Efficient Manufacturing of Steerable Eversion Robots with Integrated Pneumatic Artificial Muscles

Soft-growing robots based on the eversion principle are renowned for their ability to rapidly extend along their longitudinal axis, allowing them to access remote, confined, or otherwise inaccessible spaces. Their inherently compliant structure enables safe interaction with delicate environments, while their simple actuation mechanisms support lightweight and low-cost designs. Despite these benefits, implementing effective navigation mechanisms remains a significant challenge. Previous research has explored the use of pneumatic artificial muscles mounted externally on the robot’s body, which, when contracting, induce directional bending. However, this method only offers limited bending performance. To enhance maneuverability, pneumatic artificial muscles embedded in between the walls of double-walled eversion robots have also been considered and shown to offer superior bending performance and force output as compared to externally attached muscle. However, their adoption has been hindered by the complexity of the current manufacturing techniques, which require individually sealing the artificial muscles. To overcome this multi-stage fabrication approach in which muscles are embedded one by one, we propose a novel single-step method. The key to our approach is the use of non-heat-sealable inserts to form air channels during the sealing process. This significantly simplifies the process, reducing production time and effort and improving scalability for manufacturing, potentially enabling mass production. We evaluate the fabrication speed and bending performance of robots produced in this manner and benchmark them against those described in the literature. The results demonstrate that our technique offers high bending performance and significantly improves the manufacturing efficiency.