Soft Robots: Make An Artificial Muscle Arm And Gripper

Written by: admin@makezilla

Picture of Soft Robots: Make An Artificial Muscle Arm And Gripper


Using artificial air muscles, a very flexible robot arm and gripper can be made.

This soft robot is powered by compressed air and each one of the 11 muscles can be controlled by a standard infrared universal remote control or an infrared LED connected to a micro controller that can output Sony code.

This is a hack of silicone caulk. It is in fact mostly made of silicone caulk.

This robot was a test of hand cast, silicone based air muscles which I plan to use in an inexpensive prosthetic robot hand that I am working on. A laser cutter would be very useful to make the precision sheet plastic molds necessary to cast the hand muscles. The cutter could also be used to create the "bone" structure of the hand out of plastic or plywood.

The very short video shows the robot picking up an egg and moving it.

Step 1: How It Works

Picture of How It Works

I am convinced that soft robots are the way to finally create inexpensive and flexible robots that can work well with humans. They may make possible the first really practical robots for everyday use. Soft robots use flexible materials to create the frame and actuators of the robot.

The artificial air muscles for the hand and arm are made from Oogoo, an inexpensive mix of silicone caulk and corn starch that can be cast into many shapes. For this robot, the Oogoo was cast into layers to create stacked air bladders that can be expanded or contracted with pressure or vacuum.

A standard infrared universal remote can control individual muscles or pre-programmed sequences. It does this by sending signals to an air muscle controller that is controlled by robot neurons. The air muscle controller can control up to 11 air muscles using solenoid valves and a 12 volt air compressor that provides pressure or vacuum.

This is a tethered robot that has 11 air lines connected that power the air muscles. Eventually it should be possible to fit the valves and compressor on board. A less noisy compressor could also be made.