This article deals with a novel active bending soft body that uses metamaterials and combines soft behavior, integrated actuation, low complexity, and a high density of producible forces and moments. The presented concept consists of a tube-like structure with tailored, unconventional material properties, which enable the generation of a bending deformation and/or moment when circumferential stress and/or strain is induced. Circumferential actuation can be generated by a difference in pressure between the internal and external surface of the tube or, alternatively, by distributed expansion actuators that act radially or tangentially (e.g., shape memory wires). In addition to an analytical model, this article also presents a design procedure and deals with the implementation of the proposed concept in a functional prototype and its experimental characterization.

中文翻译：

---

Poisson诱导的用于软机器人系统的弯曲执行器。

本文讨论了一种使用超材料的新型主动弯曲软体，并结合了柔软的行为，整合的驱动，低复杂性以及高密度的可产生力和力矩。提出的概念包括具有定制的非常规材料特性的管状结构，当引起周向应力和/或应变时，该管状结构能够产生弯曲变形和/或弯矩。圆周致动可以通过管的内表面和外表面之间的压力差产生，或者通过径向或切向作用的分布式膨胀致动器（例如，形状记忆线）产生。除了分析模型之外，