Bio-Inspired Multi-Segment Pneu-Net Manipulators for 3D Trajectory Matching

This work presents a modeling and inverse-design framework for soft manipulators that can follow prescribed 3D spatial trajectories under a single pressure input. Inspired by octopus tentacles, the manipulator is built from modular segments that realize twisting, in-plane bending, or helical modes by programming chamber orientations within a Pneu-Net architecture. Compared with fiber-reinforced designs, the chambered Pneu-Net approach simplifies fabrication while still achieving rich spatial motion.

    An analytical model is derived to capture material nonlinearity, geometric anisotropy, and varying loading directions. A nonlinear orthotropic energy formulation models the twisting segments, while a minimum potential energy formulation with Saint Venant–Kirchhoff elasticity handles helical segments. The 3D rod reconstruction then assembles segment responses into a continuous centerline and full geometry, enabling inverse design.

Modeling and Design of Lattice-Reinforced Pneumatic Soft Robots

    This work proposes a lattice-reinforced pneumatic soft robot platform in which a silicone tube is clad with patterned lattice metamaterials to program twisting, bending, and elongation. By tailoring lattice patterns, the actuator exhibits orthotropic mechanics that convert inflation into targeted finite deformations.

An analytical framework models the coupled kinematics and stresses. Systematic studies quantify how geometry and pressure govern response, including the result that twist per length is maximized near a 36° grid tilt. Demonstration studies show a two-segment lateral-climbing robot, an exploration manipulator, and an actuator achieving simultaneous twisting–bending–elongation via lattice superimposition. The cases illustrate the approach’s versatility, repeatability, and practicality for lattice-reinforced soft robots.