Challenges and Innovations in the Fabrication of Soft Pneumatic Actuators: A Survey of Current Techniques

This is the authors' abstract. We don't add key points for this paper.

Soft robots have been used in a wide range of applications ranging from soft grippers to underwater robotics and a wide range of actuation methods have been used to drive these robots. However, the most commonly used type of actuation is soft pneumatic actuation. Soft pneumatic actuators can be made from polymers, plastics, thin films, etc. and there is an intrinsic relation between their materials, manufacturing method, design and capabilities. This review paper surveys the current manufacturing methods for soft pneumatic actuators and robots, a key component in the growing field of soft robotics. These flexible and adaptable devices rely on pressurized air to achieve movement, with potential applications in healthcare, industrial automation, and human-robot interaction. The paper explores various fabrication techniques, including casting, 3D printing, and sealing, highlighting their respective material requirements and design limitations. Each method impacts the actuator’s flexibility, durability, and performance. The review underscores the need for future research into novel materials and scalable manufacturing techniques to advance the practical deployment of soft robotics across industries.