الملخص
Soft pneumatic actuators are widely used in soft robotics. However, their actuation modes are typically fixed by internal chamber designs or reinforcements, making post fabrication reconfiguration difficult. This paper presents a reconfigurable fabric-based pneumatic actuator that enables rapid, tool free, and reusable switching among multiple actuation modes by attaching constraint fabric modules to a buttoned textile sleeve. By rearranging low-stretch constraint parts on a single actuator body, the proposed system realizes four actuation modes isotropic expansion, contraction, bending, and twisting without redesigning or disassembling the actuator.We further introduce an attachable capacitive fabric-based tactile sensor module that can be mounted at arbitrary locations on the actuator surface for task dependent contact sensing. Experiments demonstrated an elongation ratio of 1.2, a maximum bending angle of approximately 60 degrees, and a twisting angle of approximately 90 degrees at 24 kPa, while achieving blocking forces exceeding 10 N across all modes. The tactile sensor exhibited a monotonic, force-dependent increase in capacitance with low hysteresis (approximately 12%) and stable cyclic responses under preload. Finally, we constructed soft robotic arms composed of multiple actuators and demonstrated in situ motion reconfiguration for grasping by changing the attached constraint patterns. These results indicate that the proposed modular constraint and sensing framework improves the functional adaptability of fabric-based soft robots while preserving a simple, robust actuator structure.
الكلمات المفتاحية
الموضوع
بيانات النشر
- المجلة
- غير متاح
- وصول مفتوح
- وصول مفتوح أخضر
اقتبس هذه المقالة
APA 7
Kimura, K., Ishizuka, H., Sakaue, Y., Ikeda, S., & Oshiro, O. (2026). A Reconfigurable Fabric Based Pneumatic Actuator with Button Fastened Constraint Modules for Multi Mode Actuation. https://omanscience.com/ar/articles/a-reconfigurable-fabric-based-pneumatic-actuator-with-button-fastened-constraint-modules-for-multi-mode-actuation
MLA 9
Kimura, Kentaro, et al. "A Reconfigurable Fabric Based Pneumatic Actuator with Button Fastened Constraint Modules for Multi Mode Actuation." https://omanscience.com/ar/articles/a-reconfigurable-fabric-based-pneumatic-actuator-with-button-fastened-constraint-modules-for-multi-mode-actuation.
شيكاغو (المؤلف–التاريخ)
Kimura, Kentaro, Hiroki Ishizuka, Yusuke Sakaue, Sei Ikeda, and Osamu Oshiro. 2026. "A Reconfigurable Fabric Based Pneumatic Actuator with Button Fastened Constraint Modules for Multi Mode Actuation." https://omanscience.com/ar/articles/a-reconfigurable-fabric-based-pneumatic-actuator-with-button-fastened-constraint-modules-for-multi-mode-actuation.
هارفارد
Kimura, K., Ishizuka, H., Sakaue, Y., Ikeda, S. and Oshiro, O. (2026) 'A Reconfigurable Fabric Based Pneumatic Actuator with Button Fastened Constraint Modules for Multi Mode Actuation', Available at: https://omanscience.com/ar/articles/a-reconfigurable-fabric-based-pneumatic-actuator-with-button-fastened-constraint-modules-for-multi-mode-actuation.
فانكوفر
Kimura K, Ishizuka H, Sakaue Y, Ikeda S, Oshiro O. A Reconfigurable Fabric Based Pneumatic Actuator with Button Fastened Constraint Modules for Multi Mode Actuation. https://omanscience.com/ar/articles/a-reconfigurable-fabric-based-pneumatic-actuator-with-button-fastened-constraint-modules-for-multi-mode-actuation
IEEE
K. Kimura, H. Ishizuka, Y. Sakaue, S. Ikeda, and O. Oshiro, "A Reconfigurable Fabric Based Pneumatic Actuator with Button Fastened Constraint Modules for Multi Mode Actuation," https://omanscience.com/ar/articles/a-reconfigurable-fabric-based-pneumatic-actuator-with-button-fastened-constraint-modules-for-multi-mode-actuation.