AUTHOR=Bui Phuc D. H. , Prugh Benjamin , Padilla Alejandra M. E. , Schell Caroline , Keller Michael , Schultz Joshua A. TITLE=Endurance tests for a fabric_reinforced inflatable soft actuator JOURNAL=Frontiers in Materials VOLUME=10 YEAR=2023 URL=https://www.frontiersin.org/journals/materials/articles/10.3389/fmats.2023.1112540 DOI=10.3389/fmats.2023.1112540 ISSN=2296-8016 ABSTRACT=

This paper describes a series of endurance and material property tests conducted on a pneumatic, fabric-reinforced inflatable soft actuator made of Dragon Skin 30 silicone, which exhibited performance variations during operation. It is important to understand the level of variation over time and how it affects the motions of the soft actuators. The tests were designed to investigate the repeatability and durability of the actuator by measuring changes in its trajectories after long working periods, determining its failure pressure, and examining its elasticity through tensile tests. The experiments were performed on multiple soft actuators, and the results show pertinent information about the variation in their motion and how it relates to the material behavior of the silicone. This information enhances our understanding of the real-world behavior of silicone soft actuators and enables us to better control their performance in our applications.