Peristaltic Actuator

Inspired by biological peristalsis, this project introduces a scalable, modular soft robotic actuator system designed for efficient and delicate object transport. Utilizing donut-shaped compression and longitudinal inflation modules, the system is ideal for handling fragile and irregularly shaped objects. Its modular design allows for cost-effective scalability, adaptability, and ease of repair. Real-time pressure feedback control ensures precise object manipulation, enabling applications in soft robotics, automation, and underwater exploration. Future efforts will also explore the system's potential for climbing applications.

Publication: Ye, B., Hao, Z., Shah, P. and Jawed, M.K., 2024. Bio-Inspired Pneumatic Modular Actuator for Peristaltic Transport. arXiv preprint arXiv:2412.06823.

Funding Source: We acknowledge financial support from the National Science Foundation (CAREER 2047663).

Github: https://github.com/StructuresComp/Peristaltic_Actuator