An Optimum Design Method of Pneu-Net Actuators for Trajectory Matching Utilizing a Bending Model and GA

Figure 1

Different structures of soft pneu-net actuators. (a) Actuators with a single chamber. (b) Actuators with a network of chambers without channel between two chambers. (c) Actuators with a network of chambers and uniformly distributed channels.

(a)

(b)

(c)