Multi-Mode Pneumatic Artificial Muscles Driven by Hybrid Positive-Negative Pressure

• URL: http://arxiv.org/abs/2603.15066v1
• Date: Mon, 16 Mar 2026 10:20:58 GMT
• Title: Multi-Mode Pneumatic Artificial Muscles Driven by Hybrid Positive-Negative Pressure
• Abstract summary: This paper introduces an architecture for Inflatable Fluid-Driven Origami-Inspired Artificial Muscles (IN-FOAMs)<n>A typical IN-FOAM consists of an inflatable skeleton enclosed within an outer skin, which can be driven using a combination of positive and negative pressures.<n>The skeleton patterns are programmable, enabling a variety of motions, including contracting, bending, twisting, and rotating.
• Score: 11.862266769445684
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Artificial muscles embody human aspirations for engineering lifelike robotic movements. This paper introduces an architecture for Inflatable Fluid-Driven Origami-Inspired Artificial Muscles (IN-FOAMs). A typical IN-FOAM consists of an inflatable skeleton enclosed within an outer skin, which can be driven using a combination of positive and negative pressures (e.g., compressed air and vacuum). IN-FOAMs are manufactured using low-cost heat-sealable sheet materials through heat-pressing and heat-sealing processes. Thus, they can be ultra-thin when not actuated, making them flexible, lightweight, and portable. The skeleton patterns are programmable, enabling a variety of motions, including contracting, bending, twisting, and rotating, based on specific skeleton designs. We conducted comprehensive experimental, theoretical, and numerical studies to investigate IN-FOAM's basic mechanical behavior and properties. The results show that IN-FOAM's output force and contraction can be tuned through multiple operation modes with the applied hybrid positive-negative pressure. Additionally, we propose multilayer skeleton structures to enhance the contraction ratio further, and we demonstrate a multi-channel skeleton approach that allows the integration of multiple motion modes into a single IN-FOAM. These findings indicate that IN-FOAMs hold great potential for future applications in flexible wearable devices and compact soft robotic systems.

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