Design, Modelling and Characterisation of a Miniature Fibre-Reinforced Soft Bending Actuator for Endoluminal Interventions

Xiangyi Tan, Aoife McDonald-Bowyer, Danail Stoyanov +1

Miniaturised soft pneumatic actuators are crucial for robotic intervention within highly constrained anatomical pathways. This work presents the design and validation of a fibre-re…