Review on Soft Pneumatic Actuators

肖伟; 胡国良; 肖毅华; 胡德安

doi:10.13433/j.cnki.1003-8728.20240036

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Review on Soft Pneumatic Actuators

更新时间：2026-04-23

- Review on Soft Pneumatic Actuators
- Mechanical Science and Technology for Aerospace Engineering Vol. 45, Issue 2, Pages: 191-206(2026)
- 作者机构：
  
  1. 华东交通大学机构机电与车辆工程学院,南昌,330013
  2. 湖南大学特种装备先进设计技术与仿真教育部重点实验室机构,长沙,410082
- 作者简介：
- 基金信息：
- DOI：10.13433/j.cnki.1003-8728.20240036
  CLC：
- Published：2026
- 稿件说明：
移动端阅览
肖伟, 胡国良, 肖毅华, et al. Review on Soft Pneumatic Actuators[J]. Mechanical Science and Technology for Aerospace Engineering, 2026, 45(2): 191-206.
DOI：

肖伟, 胡国良, 肖毅华, et al. Review on Soft Pneumatic Actuators[J]. Mechanical Science and Technology for Aerospace Engineering, 2026, 45(2): 191-206. DOI： 10.13433/j.cnki.1003-8728.20240036.

摘要

气动软体致动器与生俱来的适应性、柔顺性和安全性，使得其在仿生运动、柔性抓取等领域中有着广泛的应用前景。本文从结构设计和驱动原理两个方面综述了气动软体致动器的研究现状，并讨论了不同致动器的性能特点。随后介绍了气动软体致动器在力学建模和应用方面的研究。最后，总结了气动软体致动器在气源供给、可靠性和力学建模方面所面临的挑战，并指出了该领域今后的研究方向，有望为气动软体致动器的未来发展提供参考，进而促进软体机器人的实用化。

Abstract

Soft pneumatic actuators have the advantages of inherent adaptability

flexibility and safety greatly

which makes them possess a wide range of application prospects in bionic motion

flexible grasping

etc. In this paper

the research status of soft pneumatic actuators is summarized from the structure design and driving principle

and their performance characteristics of different structures are discussed. Then the research on mechanics modeling and application of soft pneumatic actuators is introduced. Finally

the challenges in air supply

operating reliability

and mechanics modeling of soft pneumatic actuators are summarized. And the future research direction in this field is pointed out

which is expected to provide a reference for the future development of soft pneumatic actuators

and promote the practical application of soft robots.

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