In this paper we present a class of soft-robotic systems with superior load bearing capacity and expanded degrees of freedom. Spatial parallel soft robotic systems utilize spatial arrangement of soft actuators in a manner similar to parallel kinematic machines. In this paper we demonstrate that such an arrangement of soft actuators enhances stiffness and yield dramatic motions. The current work utilizes tri-chamber actuators made from silicone rubber to demonstrate the viability of the concept.
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Rivera et al. (2014) studied this question.
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