Modelling the nonlinear response of fibre-reinforced bending fluidic actuators

Vito Cacucciolo, Federico Renda, Ernesto Poccia, Cecilia Laschi, Matteo Cianchetti

Research output: Contribution to journalArticlepeer-review

34 Scopus citations


Soft actuators are receiving increasing attention from the engineering community, not only in research but even for industrial applications. Among soft actuators, fibre-reinforced bending fluidic actuators (BFAs) became very popular thanks to features such as robustness and easy design and fabrication. However, an accurate modelling of these smart structures, taking into account all the nonlinearities involved, is a challenging task. In this effort, we propose an analytical mechanical model to capture the quasi-static response of fibre-reinforced BFAs. The model is fully 3D and for the first time includes the effect of the pressure on the lateral surface of the chamber as well as the non-constant torque produced by the pressure at the tip. The presented model can be used for design and control, while providing information about the mechanics of these complex actuators.

Original languageBritish English
Article number105020
JournalSmart Materials and Structures
Issue number10
StatePublished - 20 Sep 2016


  • bending fluidic actuators
  • hyper-elastic materials
  • nonlinear mechanics
  • soft actuators
  • soft robotics


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