Soft robotic pneumatic actuators generally excel in the specific application they were designed for but lack the versatility to be redeployed to other applications. This study presents a novel and versatile soft compact multilayer extension actuator (MEA) to overcome this limitation. We use the MEA linear output in different hybrid configurations to achieve this versatility. The unique design and fabrication of the MEA allow for a compact elastomeric actuator with innate tension, capable of reverting to its initial state without the need for external stimulus. The MEA is made from alternating elastomers with different Young's modulus, bestowing the MEA with high durability, force, and extension capabilities. In addition, the MEA is lightweight at 4 g, capable of a high force-to-weight ratio of 1000 and an extension ratio of 525%. We also explored varying the MEA parameters, such as its material and dimension, which further enhance its properties. Subsequently, we showed four different design configurations encompassing the MEA to produce four basic motions, that is, push, pull, bend, and twist. Finally, we demonstrated three possible hybrid configurations for manipulation, locomotion, and assistive applications that highlight the versatility, manipulability, and modularity of the MEA.

中文翻译：

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用于可重构软体机器人的紧凑型多层延伸执行器

软机器人气动执行器通常在其设计的特定应用中表现出色，但缺乏重新部署到其他应用的多功能性。本研究提出了一种新颖且多功能的软紧凑型多层延伸致动器 (MEA) 来克服这一限制。我们在不同的混合配置中使用 MEA 线性输出来实现这种多功能性。MEA 的独特设计和制造允许具有先天张力的紧凑型弹性体致动器，能够在不需要外部刺激的情况下恢复到其初始状态。MEA 由具有不同杨氏模量的交替弹性体制成，赋予 MEA 高耐用性、力和延伸能力。此外，MEA 的重量仅为 4 克，具有 1000 的高力重量比和 525% 的延伸率。我们还探索了改变 MEA 参数，例如其材料和尺寸，以进一步增强其性能。随后，我们展示了包含 MEA 的四种不同设计配置，以产生四种基本运动，即推、拉、弯曲和扭曲。最后，我们展示了三种可能的混合配置，用于操作、运动和辅助应用，突出了 MEA 的多功能性、可操作性和模块化。