Most soft actuators producing joint-like deformations rely on the expansion of materials or on the use of multiple chambers in equilibrium while requiring additional structures for inter-connecting the joints. This paper introduces a new soft pneumatic actuator where a constriction placed on an inflatable tube allows the tube to bend around the constriction through the formation of a crease around the constriction. The bending of the tube then changes as the shape of the crease change under a change in pressure without relying on the expansion of the material. This results in an actuator that has a single chamber where multiple constrictions can be placed and freely re-arranged to form different structures as their insertion is nonpermanent. The constriction is also able to induce lateral bending deformations such that the actuator can assume a helical configuration using multiple constrictions spaced over the length of the actuator. The performance of different constriction designs in terms of bending angle without any payloads and with additional payloads is presented followed by their implementation in three different designs of morphing decorative flowers. The actuator itself does not produce a large force and its range of motion is quite limited, but it has a unique set of properties that make it ideal for visual and creative applications as well as educational purposes.

大多数产生类似关节变形的软致动器依赖于材料的膨胀或平衡使用多个腔室，同时需要额外的结构来互连关节。本文介绍了一种新的软气动执行器，其中放置在充气管上的收缩部允许管通过在收缩部周围形成折痕而围绕收缩部弯曲。然后管子的弯曲随着折痕形状在压力变化下的变化而变化，而不依赖于材料的膨胀。这导致执行器具有单个腔室，可以在其中放置多个收缩部并自由重新排列以形成不同的结构，因为它们的插入是非永久性的。收缩部还能够引起横向弯曲变形，使得致动器可以使用在致动器长度上间隔开的多个收缩部呈现螺旋构造。介绍了不同收缩设计在没有任何有效载荷和附加有效载荷的情况下在弯曲角度方面的性能，然后是它们在变形装饰花的三种不同设计中的实现。执行器本身不会产生很大的力，其运动范围也非常有限，但它具有一组独特的特性，使其成为视觉和创意应用以及教育目的的理想选择。介绍了不同收缩设计在没有任何有效载荷和附加有效载荷的情况下在弯曲角度方面的性能，然后是它们在变形装饰花的三种不同设计中的实现。执行器本身不会产生很大的力，其运动范围也非常有限，但它具有一组独特的特性，使其成为视觉和创意应用以及教育目的的理想选择。介绍了不同收缩设计在没有任何有效载荷和附加有效载荷的情况下在弯曲角度方面的性能，然后是它们在变形装饰花的三种不同设计中的实现。执行器本身不会产生很大的力，其运动范围也非常有限，但它具有一组独特的特性，使其成为视觉和创意应用以及教育目的的理想选择。