IEEE Robotics & Automation Magazine - December 2020 - 70

reached an angle of 58.1°, and at 60 kPa, it reached 115.4°, as
measured by the encoder [Figure 4(b)]. Some hysteresis of the
motion was observable by the joint actuator not reducing in
angle with a slight reduction in pressure, such that the actuator
remained at an angle of 115.4°, even after lowering its pressure

to 40 kPa. This could be due to the force required for bending
the unfolded fabrics or other nonlinearities of the structure.
The joint angle as a function of pressure during pressurization
and depressurization was measured using the encoder, and it
could be seen that the joint actuator produced significantly

5 cm

10 cm
(a)
0 kPa
0˚

20 kPa
58.1˚

40 kPa
95.8˚

Inflating

60 kPa
115.4˚

20 kPa
100.2˚

0 kPa
3.0˚

40 kPa
115.4˚

Deflating
(b)
1,200 g
1,600 g
2,000 g

Input Pressure (kPa)
(c)

10 kPa
20 kPa

Present Angle
Deflection Angle (°)

120
100
80
60
40
20
0

Joint Angle (°)

140
120
100
80
60
40
20
0

Target Angle

0
5
10
15
20
25
30
35
40
45
50
55
60

Joint Angle (°)

No Load
400 g
800 g

0

20

40

60 80 100 120 140
Time (s)
(d)

120
100
80
60
40
20
0
0

200

30 kPa
40 kPa

50 kPa
60 kPa

400 600 800 1,000
Load (g)
(e)

Figure 4. (a) The assembly of the pouches with the 3D printed parts to form a robotic joint. (b) The angle of the joint at different
pressures of the bottom chamber with a load of 800 g. (c) The joint angle versus input pressure for different tip loads. (d) The
proportional-integral-derivative control of the joint with a sinusoidal input with a load of 800 g. (e) The deflection of the joint versus
load for different pressures.

70

*

IEEE ROBOTICS & AUTOMATION MAGAZINE

*

DECEMBER 2020



IEEE Robotics & Automation Magazine - December 2020

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - December 2020

Contents
IEEE Robotics & Automation Magazine - December 2020 - Cover1
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