While its biological significance is well-documented, its application in soft robotics, particularly for the transport of fragile and irregularly shaped objects, remains underexplored. This study presents a modular soft robotic actuator system that addresses these challenges through a scalable, adaptable, and repairable framework, offering a cost-effective solution for versatile applications. The system integrates optimized donut-shaped actuation modules and utilizes real-time pressure feedback for synchronized operation, ensuring efficient object grasping and transport without relying on intricate sensing or control algorithms. Experimental results validate the system`s ability to accommodate objects with varying geometries and material characteristics, balancing robustness with flexibility. This work advances the principles of peristaltic actuation, establishing a pathway for safely and reliably manipulating delicate materials in a range of scenarios.
@article{arxiv.2412.06823,
title = {Bio-Inspired Pneumatic Modular Actuator for Peristaltic Transport},
author = {Brian Ye and Zhuonan Hao and Priya Shah and Mohammad Khalid Jawed},
journal= {arXiv preprint arXiv:2412.06823},
year = {2024}
}