Design of Embedded Structure Variable Stiffness Pneumatic Actuator

  • Yiqing Li
  • Wen Zhou
  • Yan CaoEmail author
  • Feng Jia
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11745)


Soft pneumatic actuator, which is actuated by pneumatic pressure, is the most widely used actuator in the field of soft robotics. During the application of the pneumatic actuator, the chambers inside the actuator expand like balloons. It causes nonlinear problems and gives difficulties in modeling of actuator. A design method of variable stiffness pneumatic actuator is proposed in this paper. The embedded structure is adopted by the actuator. The finite element method (FEM) is used for analyzing the effect of the proposed soft pneumatic actuator. The results show that the proposed design of the pneumatic actuator works well on restraining the balloon problems when the actuator bends.


Soft pneumatic actuator Variable stiffness Embedded structure 


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.School of Mechatronic EngineeringXi’an Technological UniversityXi’anChina
  2. 2.School of Mechanical EngineeringXi’an Jiaotong UniversityXi’anChina
  3. 3.State Key Laboratory for Manufacturing and Systems EngineeringXi’anChina

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