Two chambers soft actuator realizing robotic gymnotiform swimmers fin

This paper shows a study on two chambers soft actuator development and its application to an artificial soft actuator fin. Simulations of two chambers actuator are conducted using finite element method software and the bending angles produced are computed. Eleven designs are proposed and compared which differ in separating wall thickness, actuator thickness, fiber location, fiber materials, and rubber materials to analyze the optimal bending angle produced by the actuator. Two actuators are then fabricated and embedded at the ends of soft actuator fin to produce a traveling wave along the soft actuator fin. Soft actuator fin propels like gymnotiform swimmers and shows good linear motion.