Fluidic soft actuators are enlarging the robotics toolbox by providing flexible elements that can display highly complex deformations. Although these actuators are adaptable and inherently safe, their actuation speed is typically slow because the influx of fluid is limited by viscous forces. To overcome this limitation and realize soft actuators capable of rapid movements, we focused on spherical caps that exhibit isochoric snapping when pressurized under volume-controlled conditions. First, we noted that this snap-through instability leads to both a sudden release of energy and a fast cap displacement. Inspired by these findings, we investigated the response of actuators that comprise such spherical caps as building blocks and observed the same isochoric snapping mechanism upon inflation. Last, we demonstrated that this instability can be exploited to make these actuators jump even when inflated at a slow rate. Our study provides the foundation for the design of an emerging class of fluidic soft devices that can convert a slow input signal into a fast output deformation.

流体软执行器通过提供可以显示高度复杂变形的柔性元件，正在扩大机器人工具箱。尽管这些致动器是适应性的并且本质上是安全的，但是它们的致动速度通常是缓慢的，因为流体的流入受到粘性力的限制。为了克服此限制并实现能够快速移动的软执行器，我们专注于球形盖，当在体积控制的条件下加压时，球形盖会表现出等速的咬合。首先，我们注意到这种卡扣式不稳定性会导致能量突然释放和盖快速移位。受到这些发现的启发，我们研究了包括诸如球形帽之类的致动器的执行器的响应，并观察了充气时相同的等速咬合机制。持续，我们证明了这种不稳定性可以被利用来使这些致动器跳动，即使在缓慢充气时也是如此。我们的研究为新兴的一类流体软设备的设计奠定了基础，这些设备可以将缓慢的输入信号转换为快速的输出变形。