Spatial parallel soft robotic architectures

In this paper we present a class of soft-robotic systems with superior load bearing capacity and expanded degrees of freedom. Spatial parallel soft robotic systems utilize spatial arrangement of soft actuators in a manner similar to parallel kinematic machines. In this paper we demonstrate that such an arrangement of soft actuators enhances stiffness and yield dramatic motions. The current work utilizes tri-chamber actuators made from silicone rubber to demonstrate the viability of the concept.