Symmetric Deform-Ability Pressure-Vacuum Actuator via Single Channel

In this study, we developed a new soft actuator "MORI - A" using buckling of 3D printed structure, which has the characteristics of soft modular robot: (1) reconfigurable, (2) capable of various deformations, and (3) adaptable to the environment. This module can realize bending, Shrinking, and shearing. However, while this module combines convenience and a variety of deformation patterns, it incorporates only a silicone rubber contraction element for actuation, and is not capable of deformation through pressure-induced expansion. We therefore extended the MORI-A module to develop an actuator that can generate diametrically opposite deformation patterns under both pressure and vacuum. We were able to realize this principle using a single air channel and uniform hardness silicone rubber, while maintaining the simplicity of this module. Deformation characteristics were investigated during contraction, expansion, and bending. In addition, multiple modules were connected to change the direction of deformation and reproduce S-shaped bending.