Design and performance analysis of soft manipulator based on fast Pneumatic network technology

Since the advent of soft robot technology, it has quickly become the focus of scientific research because of its excellent flexibility and adaptability. In this paper, we detail the design and manufacturing process of a soft manipulator based on fast pneumatic network (FPN) technology, and explore its application value in the field of medical rehabilitation, especially in the rehabilitation process of stroke patients. First, the fast aerodynamic network structure is chosen as the driving mechanism. The correlation model between the bending angle of the soft finger and the loading pressure is built on the simulation analysis based on the bending properties. In addition, we use an optimized soluble core casting process to design soft fingers with excellent air tightness. The experimental results show that the soft fingers can achieve stable bending and grasping movements under different air pressure conditions. The maximum grasping force and response time are highly consistent with the simulation results demonstrate the accuracy and reliability of the designed model.