Agonist–Antagonist Pouch Motors: Bidirectional Soft Actuators Enhanced by Thermally Responsive Peltier Elements

A bidirectional soft actuator architecture using agonist–antagonist pouch motors and thermoelectric control to achieve tunable force, stiffness, and dynamic response.

📄 IROS 2024

What I did:

  • Developed modular design primitives and connection strategy
  • Characterized repeatability, response time, and output forces
  • Demonstrated reconfigurable behaviors via module combinations

Citation

Exley, T., Wijesundara, R., Tan, N., Sunkara, A., He, X., Wang, S.,
Chan, B., Jain, A., Espinosa, L., Jafari, A.
Agonist–Antagonist Pouch Motors: Bidirectional Soft Actuators Enhanced by Thermally Responsive Peltier Elements.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.