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Inspired by the dexterous handling ability of an elephant's trunk, we proposea pneumatic actuator that generates diverse bending and extension motions in aflexible arm. The actuator consists of two flexible tubes. Each flexible tubeis restrained by a single string with variable length and tilt angle. Even if asingle tube can perform only three simple types of motions (bending, extension,and helical), a variety of complex bending patterns can be created by arranginga pair of tubes in parallel and making the restraint variable. This performancetakes advantage of the effect of the superposition of forces by arranging twotubes to constructively interfere with each other. This paper described sixresulting pose patterns. First, the configuration and operating principle aredescribed, and the fabrication method is explained. Next, two mathematicalmodels and four finite element method-based analyses are introduced to predictthe tip position changes in five motion patterns. All the models were validatedthrough experiments. Finally, we experimentally demonstrated that the prototypeSEMI-TRUNK can realize the action of grabbing a bottle and pouring water,verifying the effectiveness of the proposed method.

Soft Pneumatic Actuator Capable of Generating Various Bending and Extension Motions Inspired by an Elephant Trunk