The Effect of Material Stiffness and Chamber Volume on the Bending Angle and Contact Force Performance of Bending Soft Pneumatic Actuators

Bending Soft Pneumatic Actuators (BSPAs) have significant potential in areas such as wearable systems for medical rehabilitation and industrial robotic grippers, due to their flexibility and force generation capabilities. This study investigates the effect of chamber volume and silicone material stiffness on the bending angle and contact force production performance of BSPAs. Tests were conducted for three different experimental groups using a specially designed test setup. The results revealed that material stiffness plays a crucial role in determining both the bending angle and contact force production. While chamber volume had a limited impact on the bending angle, it was found to have a significant effect on contact force production. Additionally, it was observed that the influence of material stiffness on contact force production was more pronounced than that of chamber volume.