Soft actuator

The invention belongs to the technical field of soft robots, and particularly relates to a soft actuator which comprises at least two fixing clamps, a driving device and a driving device. The flexible telescopic elements are mounted between the two adjacent fixing clamps; and the limiting unit is connected to the at least two fixing clamps in a non-rotating mode. The limiting unit is additionally arranged on one side of the soft actuator, has controllable mechanical properties and can only be bent in the preset direction, so that the bending direction of the soft actuator can be limited by connecting the soft actuator with the limiting unit, and the soft actuator is strictly bent in the preset direction; lateral bending or torsion of the soft actuator is avoided, and the safety of the soft robot is improved. 本发明属于软体机器人技术领域，具体涉及一种软体致动器，包括：至少两个固定夹具；柔性伸缩元件，安装于相邻两个所述固定夹具之间；限制单元，以不可转动的方式分别连接于至少两个所述固定夹具。本发明在软体致动器的一侧增加了限制单元，限制单元具有可控的力学性能，其只能沿预设方向弯曲，因此将软体致动器与限制单元连接就能够实现对软体致动器弯曲方向的限制，使其严格的按照预设方向弯曲，避免软体致动器发生侧弯或扭转，提高软体机