Development of a PneuNet soft actuator for a soft robotic gripper
DOI:
https://doi.org/10.17979/ja-cea.2026.47.13739Keywords:
Robots manipulators, Perception and sensing, Embedded robotics, Autonomous robotic systems, Soft robotics, Soft pneumatic actuatorsAbstract
This work presents the progress achieved to date in the development of a PneuNet actuator for a soft robotic gripper. PneuNets are a type of soft pneumatic actuator manufactured from elastomeric materials and composed of multiple interconnected chambers arranged on a base containing an inextensible layer. These chambers are inflated by pressurized air to generate motion and bending, enabling the actuator to conform and close around the objects to be manipulated. Owing to both the structure and composition of the PneuNet and its pneumatic actuation principle, grippers based on these actuators can be designed, offering a clear advantage over conventional rigid manipulators. Compared with more traditional approaches, this alternative provides significantly gentler manipulation, substantially reducing the risk of damaging the handled objects. This paper describes the main design aspects that must be considered when conceiving and sizing PneuNet soft pneumatic actuators.
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Copyright (c) 2026 Moisés Bolívar-Vivas, Andrés J. Serrano-Balbontín, Inés Tejado, Blas M. Vinagre, María Collado Caballero
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