Modular Bending Actuators Based on Self-x Properties of the CN-Hydrogel

Multifunctional materials, such as those with several self-x properties, enable new designs and applications of soft robots. The CN-Hydrogel material incorporates several of these self-x properties, which have been used separately in previous works for the development of soft sensors and actuators. In this work we use all these capabilities together to achieve modularity, controllability, and durability in soft bending pneumatic actuators. In particular, we use the self-adhesion in the modular design and fabrication, the self-sensing for a closed loop control scheme and the self-healing for damage repair. The experimental validation of our modular approach is fulfilled with a bidirectional bending prototype.