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May 9, 2026Journal of Dynamic Systems Measurement and ControlOpen Access

An Integrated Frameless Motor Gerotor Pump for Hydraulic Actuation of Soft Robots

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Authors

JGJames GallentineEBEric J. Barth

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Overview

Randomized trial demonstrates hydraulic actuation performance in soft robots, indicating improved efficiency and output power.

Key Points

  • This research aims to develop a compact and efficient gerotor hydraulic pump integrated into a brushless motor for hydraulic actuation in soft robots.
  • Developed a novel geometry for a gerotor hydraulic pump integrated in a frameless motor.
  • Evaluated performance metrics such as pressure, flow, output power, and efficiency.
  • Assessed positional feedback control in setups involving rigid hydraulic pistons and soft robotic actuators.
  • Achieved pressures over 2.9 MPa and flows up to 1.6 L/min, with 31.5 W power and 25% efficiency.
  • Demonstrated a peak power density of 119 W/kg and noise reduction to 47.7 dBA with a fabric wrap.
  • Achieved positional accuracy of 1 mm and angular accuracy of 2 degrees in controlling actuators.

Cite This Study

Gallentine et al. (2026) studied this question.

synapsesocial.com/papers/69fed071b9154b0b82877771https://doi.org/10.1115/1.4071871
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