Shape Morphing Microscale Soft Robotic Actuators


The micro actuator has been studied for its application in micro operations such as manipulating cellular aggregate, the tissues or drug delivery. The traditional actuation methods include thermo-mechanical actuation, electromagnetic actuation, electrostatic actuation and pneumatic actuation. Among these actuation methods, pneumatic actuation has the advantage of not generating heat and current during actuation.
We investigate
1) a streamlined and standardized fabrication procedure to make sub-millimeter scale soft pneumatic actuators (SPA) with customizable bending modalities achieved by shape engineering. Preliminary models are also given to interpret width-based shape engineering for customization and to compare the bending angle and radius of curvature measured from the characterization experiments.
2) a new micro pneumatic actuator consisting of two biocompatible materials is designed, fabricated and tested. The actuator has one bending degree of freedom and the largest bending deformation is about 115°.


  • X. Liang; Y. Sun & H. Ren A Flexible Fabrication Approach towards the Shape Engineering of Microscale Soft Pneumatic Actuators IEEE Robotics and Automation Letters, 2016, 1-6
  • X. Liang; C. Lee & H. Ren Towards a Micro Pneumatic Actuator with Large Bending Deformation for Medical Interventions 7th WACBE World Congress on Bioengineering, 6th to 8th July, 2015, Singapore, Springer International Publishing, 2015, 52, 76-79
  • P. M. Khin; J. H. Low; S. Kukreja; H. Ren & R. Yeow Soft Haptics Using Soft Actuator and Soft Sensor BioRob2016, 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, June 26-29, 2016, Singapore, 2016
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