In this study, we introduce a novel Mylar-based pouch motor design that leverages the reversible actuation capabilities of Peltier junctions to enable agonist-antagonist muscle mimicry in soft robotics. Addressing the limitations of traditional silicone-based materials, such as leakage and phase-change fluid degradation, our pouch motors filled with Novec 7000 provide a durable and leak-proof solution for geometric modeling. The integration of flexible Peltier junctions offers a significant advantage over conventional Joule heating methods by allowing active and reversible heating and cooling cycles. This innovation not only enhances the reliability and longevity of soft robotic applications but also broadens the scope of design possibilities, including the development of agonist-antagonist artificial muscles, grippers with can manipulate through flexion and extension, and an anchor-slip style simple crawler design. Our findings indicate that this approach could lead to more efficient, versatile, and durable robotic systems, marking a significant advancement in the field of soft robotics.

翻译：本研究提出一种新型基于迈拉膜的袋式电机设计，该设计利用帕尔贴结的可逆致动能力，在软体机器人中实现拮抗肌模拟。针对传统硅基材料存在的泄漏与相变流体降解等局限性，我们采用Novec 7000填充的袋式电机，为几何建模提供了耐用且防漏的解决方案。柔性帕尔贴结的集成相较传统焦耳加热方法具有显著优势，可实现主动且可逆的加热与冷却循环。该创新不仅提升了软体机器人应用的可靠性和使用寿命，还拓展了设计可能性范畴，包括开发拮抗肌人工肌肉、通过屈伸动作操控物体的夹持器，以及锚点滑行式简易爬行器设计。研究结果表明，该方法有望构建更高效、多用途且耐用的机器人系统，标志着软体机器人领域的重大突破。