Papers

TO-mdiSPAs: Topology Optimization of multi-directional Soft Pneumatic Actuators

This preprint introduces a topology optimization method for designing multi-directional soft pneumatic actuators using Darcy-law pressure modeling and a robust three-field formulation. Optimized chambers are assembled into a simulated three-arm gripper; Abaqus tests at 0.15 MPa show single-arm tip displacements up to about 15.8 mm, with bending directions tracking the vector sum of activated chamber pressures. If experimentally validated, it could replace heuristic soft actuator design with systematic multi-axis bending for soft grippers.