Design and Characterisation of Cross-sectional Geometries for Soft Robotic Manipulators with Fibre-reinforced Chambers

Fluid elastomer actuators are a prevalent design paradigm in the field of soft robotics. To prevent the elastomer from ballooning and increase the actuation consistency, a fibre-reinforced design is commonly utilised, with the effect of the fibre angle on the robot's performance well established. However, the impact of the geometry of the fibre-reinforced chambers has not been tested. This paper e...