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The stiffness modulation mechanism for soft robotics has gained considerableattention to improve deformability, controllability, and stability. However,for the existing stiffness soft actuator, high lateral stiffness and a widerange of bending stiffness are hard to be provided at the same time. This paperpresents a bioinspired bidirectional stiffening soft actuator (BISA) combiningthe air-tendon hybrid actuation (ATA) and a bone-like structure (BLS). The ATAis the main actuation of the BISA, and the bending stiffness can be modulatedwith a maximum stiffness of about 0.7 N/mm and a maximum magnification of 3times when the bending angle is 45 deg. Inspired by the morphological structureof the phalanx, the lateral stiffness can be modulated by changing the pullingforce of the BLS. The lateral stiffness can be modulated by changing thepulling force to it. The actuator with BLSs can improve the lateral stiffnessabout 3.9 times compared to the one without BLSs. The maximum lateral stiffnesscan reach 0.46 N/mm. And the lateral stiffness can be modulated decouplingabout 1.3 times (e.g., from 0.35 N/mm to 0.46 when the bending angle is 45deg). The test results show the influence of the rigid structures on bending issmall with about 1.5 mm maximum position errors of the distal point of actuatorbending in different pulling forces. The advantages brought by the proposedmethod enable a soft four-finger gripper to operate in three modes: normalgrasping, inverse grasping, and horizontal lifting. The performance of thisgripper is further characterized and versatile grasping on various objects isconducted, proving the robust performance and potential application of theproposed design method.

A Bioinspired Bidirectional Stiffening Soft Actuator for Multimodal, Compliant, and Robust Grasping