Modelling of Soft Bending Actuator Using Cosserat Rod PDEs

In the past two decades, Soft-Robotics have gained significant attention since it offers safe, compatible and low-cost solutions to robotic systems. Their safety and compatibility are due to their structure and material. In light of applications, the soft bending actuator is widely used in grippers and rehabilitation gloves. Modelling such actuators provides a better understanding of their behaviour in order to analyse, predict and control their movement. In this paper, amongst the wide range of well-established methods, Cosserat rod theory is used as an accurate and comprehensive modelling method. The proposed model takes the fabric used in the structure of the bending actuator into consideration. The model is then verified on a real bending actuator to illustrate the beneficiaries of Cosserat rod modelling.