Soft pneumatic actuators enable safe human-machine interaction with lightweight and powerful applied parts. On the other side, they suffer design limitations as regards complex actuation patterns, including minimum bending radii, multi-states capabilities and structural stability. We present geometry-based pneumatic actuators (GPAs), a design and implementation approach that introduces constraint layers with configurable CNC heat-sealed chambers. The approach achieves predictable deformation, near-zero bending radii, multi-states actuation, and enables customizable and repeatable complex actuated geometries. Mathematical modeling reveals predictable linear angle transformations and validates nonlinear torque-angle relationships across diverse configurations. We demonstrate versatility of the GPAs approach through three applications: a 49 g wrist exoskeleton reducing muscle activity by up to 51%, a 30.8 g haptic interface delivering 8 N force feedback with fast response, and a 208 g bipedal robot achieving multi-gait locomotion. GPAs establish a configurable platform for next-generation wearable robotics, haptic systems, and soft locomotion devices.

翻译：软体气动驱动器能够实现安全的人机交互，同时具备轻量化且动力强劲的执行部件。然而，这类驱动器在实现复杂驱动模式方面存在设计限制，包括最小弯曲半径、多状态驱动能力以及结构稳定性。本文提出基于几何结构的气动驱动器，这是一种设计与实现方法，通过引入具有可配置数控热封腔室的约束层来实现。该方法实现了可预测的形变、接近零的弯曲半径、多状态驱动，并能定制化且可重复地构建复杂的驱动几何结构。数学建模揭示了可预测的线性角度变换，并验证了不同配置下非线性扭矩-角度关系。我们通过三个应用展示了该方法的通用性：一个重量为49克的腕部外骨骼，可将肌肉活动减少高达51%；一个重量为30.8克的触觉接口，能够提供8牛的力反馈并具有快速响应能力；以及一个重量为208克的双足机器人，能够实现多步态运动。该驱动器为下一代可穿戴机器人、触觉系统和软体运动装置建立了一个可配置的平台。