Shape optimization of pneumatic soft actuators

Soft actuators, characterized by their compliance and flexibility, have tremendous potential for diverse applications, ranging from medical devices to submarine operations. However, significant challenges remain in the design of these actuators, specifically in maintaining precise control over their mechanical behavior and motion. To date, heuristic methods have been commonly used to design soft actuators, which are potentially incapable of producing designs that achieve specific target behaviors. We propose a gradient-based inverse design framework to synthesize three dimensional soft actuators with tailored mechanical responses. Our design framework utilizes gradient information that captures the inherent geometrical and material nonlinearities of the soft actuator to morph its shape. We exemplify the capabilities of the proposed framework by designing soft actuators with bespoke deformation patterns, making use of sophisticated deformation mechanisms to realize the target behavior. The capabilities of the proposed framework are validated via experimental testing of cast designs, which confirms a strong correlation between measurements and numerical simulations.