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Peele et al. [15] proposed a 3D printable soft actuator using projection stereolithography.
After fixing the connector on the soft actuator, we assembled the gripper.
The soft actuator design is based on the idea of the pleated type morphology of the fluidic elastomer robot.
Creating a soft actuator consists first in creating a specific PUTUTU object that encapsulates one or several technologies.
A soft actuator groups several actuators, that have different ids and possibly different communication technologies, as one actuator.
When applied, the put sends the specified command to all the physical actuators that are associated to the soft actuator.
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The proposed soft actuators are extensor bending pneumatic artificial muscles.
Recently, the actuators are examined as the application of artificial muscles and soft actuators [6 10].
We fabricated the soft actuators (Fig. 5) using the Objet350 Connex3 and Agilista printers.
The Dragon skin and Ecoflex materials were used to fabricate two types of soft actuators.
Developers can create soft actuators to allow some computed commands to be sent to more than one actuator.
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