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This paper presents design, fabrication and control of a compliant 2Dmanipulator, a so called soft actuator. Our focus is on fiber-reinforcedelastomer actuators driven by a constant pressure hydraulic supply andmodulated on/off valves. For a given diameters, we study the effect of fourdifferent elastomer materials and that of number of reinforcement fiber turnson forces generated by the actuator and maximum bending angles. For the rest ofthe study, we use polydimethylosiloxane (PDMS) with 240 fiber turns per 170mmlength of actuator which withstand highest pressures and forces in ourexperiments. For the rest of the paper, we introduce two control methodologies.Firstly, we show that is possible to reasonably accurately control the pressureinside tube without measuring the pressure incorporating a simple linear tubemodel. This can be used, for example, in an inner-outer loop configuration witha PI position control to achieve high performance without the need for pressuremeasurement. Secondly, we experimentally show that a switching position controlexhibits very good steady state accuracy and acceptable transient. Actuator tipposition is measured using an external vision system. Our experiments includedperformance analysis of our soft manipulator while freely moving as well aswhen carrying a load.

Design, Fabrication and Control of an Hydraulic Elastomer Actuator