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The heating element and the repairing element complete the self-repairing function of the self-repairing soft actuator. A model used to optimize the structure is established, and the structure of the self-repairing soft actuator is determined through finite element analysis and experiment. The self-repairing time model of the soft actuator is established. The influences of different factors on the self-repairing effect and the self-repairing time are analyzed. The self-repairing scheme of the soft actuator is determined. Experiments show that the shortest time for the self-repairing soft actuator to complete the self-repairing process is 83 min. When the self-repairing soft actuator works normally, the bending angle can reach 129.8\u00b0 and the bending force can reach 24.96 N. After repairing, the bending angle can reach 108.2\u00b0, and the bending force can reach 21.85 N. The repaired soft actuator can complete normal locomotion.<\/jats:p>","DOI":"10.1017\/s0263574723000188","type":"journal-article","created":{"date-parts":[[2023,2,14]],"date-time":"2023-02-14T08:30:47Z","timestamp":1676363447000},"page":"1812-1827","source":"Crossref","is-referenced-by-count":4,"title":["Design and experiment of a pneumatic self-repairing soft actuator"],"prefix":"10.1017","volume":"41","author":[{"given":"Zhaoyu","family":"Liu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5235-6362","authenticated-orcid":false,"given":"Yuxuan","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shaoke","family":"Yuan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3465-8575","authenticated-orcid":false,"given":"Yanqiong","family":"Fei","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2023,2,14]]},"reference":[{"key":"S0263574723000188_ref7","doi-asserted-by":"publisher","DOI":"10.1109\/M2VIP49856.2021.9665117"},{"key":"S0263574723000188_ref37","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aan4268"},{"key":"S0263574723000188_ref6","first-page":"34","article-title":"Snake-like soft robot using 2-chambers actuator","volume":"17","author":"Abdulrab","year":"2018","journal-title":"J. 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