A Soft Self-Stable Actuator and Its Energy-Efficient Grasping

Due to high compliance and adaptiveness, soft robots show more advantages than traditional rigid in grasping irregularly shaped or fragile objects. Moreover, attract increasing attention as are adopted unstructured human–robot interaction environments. However, during the process, most need constant input stimuli maintain configurations, which directly induces low energy efficiency. This article demonstrates self-stable property of dual-chamber structure, can bending deformation without based on differential pressure two chambers. Based property, a actuator (SSSA) driven by tendon is proposed, it consumption, improve efficiency significantly. The self-stability restoring period analyzed, consumption model developed. Finally, experiments conducted verify validity models. results achieve any input, be reduced about 45%. Hence, proposed applications where sensitive.