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Abstract Soft actuators with pneumatic network have innovative potential applications in medical and rehabilitation areas. The performance of this kind of actuators is determined by the design of chambers and the properties of the active extensible layer and the passive inextensible layer. In this article, actuator with isosceles trapezoidal chambers is proposed. Orthogonal experiment design and finite element method are used to optimize the structure of actuators. Results indicate that adding constrain-limiting paper in the passive layer can significantly reduce the bending radius. Position of the paper in the passive layer also affects the bending radius. Actuators with trapezoidal chambers can have a smaller bending radius compared with that with rectangle chambers. The bending radius decreases as the ratio of short base to long base of trapezoid decreases. Increasing the number density of chambers can further reduce the bending radius.

This monograph covers the fundamentals, fabrication, testing, and modeling of ambient energy harvesters based on three main streams of energy-harvesting mechanisms: piezoelectrics, ferroelectrics, and pyroelectrics. It addresses their commercial and biomedical applications, as well as the latest research results. Graduate students, scientists, engineers, researchers, and those new to the field will find this book a handy and crucial reference because it provides a comprehensive perspective on the basic concepts and recent developments in this rapidly expanding field.