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Numerous soft actuators based on PneuNet design have already been proposedand extensively employed across various soft robotics applications in recentyears. Despite their widespread use, a common limitation of most existingdesigns is that their action is pre-determined during the fabrication process,thereby restricting the ability to modify or alter their function duringoperation. To address this shortcoming, in this article the design of aReconfigurable, Transformable Soft Pneumatic Actuator (RT-SPA) is proposed. Theworking principle of the RT-SPA is analogous to the conventional PneuNet. Thekey distinction between the two lies in the ability of the RT-SPA to undergocontrolled transformations, allowing for more versatile bending and twistingmotions in various directions. Furthermore, the unique reconfigurable design ofthe RT-SPA enables the selection of actuation units with different sizes toachieve a diverse range of three-dimensional deformations. This versatilityenhances the potential of the RT-SPA for adaptation to a multitude of tasks andenvironments, setting it apart from traditional PneuNet. The paper begins witha detailed description of the design and fabrication of the RT-SPA. Followingthis, a series of experiments are conducted to evaluate the performance of theRT-SPA. Finally, the abilities of the RT-SPA for locomotion, gripping, andobject manipulation are demonstrated to illustrate the versatility of theRT-SPA across different aspects.

Reconfigurable, Transformable Soft Pneumatic Actuator with Tunable 3D Deformations for Dexterous Soft Robotics Applications