Bio-Inspired Pneumatic Modular Actuator for Peristaltic Transport

Abstract-- While its biological significance is welldocumented, its application in soft robotics, particularly for the transport of fragile and irregularly shaped objects, remains underexplored. This study presents a modular soft robotic actuator system that addresses these challenges through a scalable, adaptable, and repairable framework, offering a cost-effective solution for versatile applications. Experimental results validate the system's ability to accommodate objects with varying geometries and material characteristics, balancing robustness with flexibility. Peristalsis, defined as the involuntary, wave-like contraction and relaxation of circular and longitudinal muscles [1], is a widespread biological mechanism essential for various functions in animals and humans. Figure 1: Overview of the actuator's capability to grasp delicate The process provides slow but stable [3] coils, electroactive polymers, artificial muscles), and control and adaptable transportation [8], minimizing energy consumption strategies (e.g., thermal feedback, pressure feedback, potentiometer and enabling movement through small or irregular feedback).