Deformation Mechanism Formulation of Differential-Stiffness-Films-Laminated Pouch Motor

Miniaturization and space-saving are very important in space exploration as the mass and size of payloads launched by a rocket depends on the rocket's performance and its fairing capacity. We focused on a soft robotic actuator made by two thin films of differential stiffness. In this paper, we formularized this deformation mechanism and verified the validity of the proposed formula. This inflatable system was also applied to a soft robotic gripper, with its performance being evaluated by conducting experiments involving the capture of various objects.