Finite element analysis and experimental characterisation of a localised steerable tip for soft everting robots
File(s)
Accepted version
Author(s)
Lu, Yi
Korvorntanajanya, Korn
Shi, Jialei
Rodriguez y Baena, Ferdinando
Type
Conference Paper
Abstract
Soft everting robots, also known as vine robots,
can achieve growth by everting materials at the robots’ tip. As such, they offer unique advantages in navigating constrained and tortuous environments. However, understanding and modelling their steering behaviour presents significant challenges. This study combines finite element analysis with experimental characterisation to investigate the steering performance of a soft everting robot equipped with a pneumatically steerable tip, focusing on exploring key design parameters. Specifically,
finite element simulations evaluate the robot’s steering angles by examining the influence of manipulator dimensions and types of silicone used. Complementary experimental characterisation further assesses steering performances focusing on everting material’s mechanical properties, including the effects of material thickness and stretchability. The results provide critical insights for optimising the design of pneumatically actuated tip steering mechanisms in soft everting robots, with particular relevance to medical applications where proper material selection and dimensional optimisation are essential.
can achieve growth by everting materials at the robots’ tip. As such, they offer unique advantages in navigating constrained and tortuous environments. However, understanding and modelling their steering behaviour presents significant challenges. This study combines finite element analysis with experimental characterisation to investigate the steering performance of a soft everting robot equipped with a pneumatically steerable tip, focusing on exploring key design parameters. Specifically,
finite element simulations evaluate the robot’s steering angles by examining the influence of manipulator dimensions and types of silicone used. Complementary experimental characterisation further assesses steering performances focusing on everting material’s mechanical properties, including the effects of material thickness and stretchability. The results provide critical insights for optimising the design of pneumatically actuated tip steering mechanisms in soft everting robots, with particular relevance to medical applications where proper material selection and dimensional optimisation are essential.
Date Acceptance
2026-01-31
Publisher
IEEE
Copyright Statement
Copyright This paper is embargoed until publication. Once published the author’s accepted manuscript will be made available under a CC-BY License in accordance with Imperial’s Research Publications Open Access policy (www.imperial.ac.uk/oa-policy).
License URL
Source
IEEE-RAS International Conference on Soft Robotics
Publication Status
Accepted
Start Date
2026-04-07
Finish Date
2026-04-11
Coverage Spatial
Kanazawa, Japan