Pneumatic soft actuators with tunable force-displacement relation and methods and machines therefor

A pneumatic soft actuator connecting two mechanical components, the pneumatic soft actuator comprising:

• an inflatable pouch formed by an airtight, flexible, non-stretchable membrane, the inflatable pouch having oppositely-disposed ends adapted to couple to the mechanical components, and having two lateral edges in which symmetrical folds are formed and define end geometries at the ends of the inflatable pouch;
• wherein inflation and deflation of the inflatable pouch decreases and increases, respectively, a distance between the ends of the inflatable pouch to induce relative motion between the mechanical components coupled to the ends of the inflatable pouch;
• and
• wherein the symmetrical folds each extends beyond a longitudinal centerline of the pouch.

A pneumatic soft actuator connecting two mechanical components, the pneumatic soft actuator comprising:

• an inflatable pouch formed by an airtight, flexible, non-stretchable membrane, the inflatable pouch having oppositely-disposed ends adapted to couple to the mechanical components, and having two lateral edges in which symmetrical folds are formed and define end geometries at the ends of the inflatable pouch;
• wherein inflation and deflation of the inflatable pouch decreases and increases, respectively, a distance between the ends of the inflatable pouch to induce relative motion between the mechanical components coupled to the ends of the inflatable pouch;
• and
• wherein the end geometries at the ends of the inflatable pouch are variable so as to actively modify the end geometries to induce a change in a force-strain relationship of the inflatable pouch and modify the distance between the ends of the inflatable pouch when inflated and deflated.