Published October 13, 2022
| Version v1
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GRACE: GeometRy-based Actuators that Contract and Elongate
Description
This paper describes a recently developed class of 3D-printable soft pneumatic actuators, named GRACE. They can be built as a whole with the robotic artefact, avoiding structural discontinuities in the soft robot's body. Their design is fully scalable and they can be built with different materials and additive manufacturing technologies. Their arrangements in series and/or parallel configurations enable the fabrication of complex bundles of muscle fibres for biomimetic machines.
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