The use of soft robots to interact with soft, fragile, and even living things has spurred interest in the development of soft robotic systems that can deform and adapt themselves to their environment through their inherent compliance. Current soft pneumatic actuator concepts require significant redesign to be repurposed from one function to another, and a complete soft robotic system may be composed of multiple types of actuators with varying materials, designs, and manufacturing methods. This complicates the process of designing and manufacturing soft robots that can tackle new tasks and environments. This work introduces a repeatable pattern of pouch motors with geometric constraints allowing the actuator to produce a programmable bending deformation. By varying the dimensions of the pattern, it is possible to produce different motions that can be used to build diverse robotic components, such as a soft robotic arm or a large soft robotic gripper.

中文翻译：

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扩展袋式电机模式以实现可编程的软弯曲驱动：支持软机器人系统适应

使用软机器人与软的，易碎的甚至是生物进行交互，已经激发了人们对软机器人系统开发的兴趣，这些系统可以通过其固有的适应性而变形并适应环境。当前的软气动致动器概念要求进行重大的重新设计，以将其从一种功能改用于另一种功能，并且完整的软机器人系统可能由多种类型的致动器组成，这些致动器具有不同的材料，设计和制造方法。这使设计和制造可应对新任务和新环境的软机器人的过程变得复杂。这项工作引入了具有几何约束条件的袋式电动机的可重复模式，从而允许执行器产生可编程的弯曲变形。通过改变图案的尺寸，