Design, Manufacturing and Open-Loop Control of a Soft Pneumatic Arm

This research paper discusses the design, manufacturing, and control of a pneumatic soft robot, known as PAUL (Pneumatic Articulated Ultrasoft Limb). The robot has five degrees of freedom and is capable of moving in three dimensions. The creation process involves using tin-cured silicone and a wax casting method. For control, an open-loop system is used. The robot’s performance, including its bending ability and weight carrying capacity, was rigorously tested.

Publication date: 5 Jan 2024
Project Page: arXiv:2401.01409v1
Paper: https://arxiv.org/pdf/2401.01409