Design and Prototyping of BiSoft.Q, A 3-D Printed Bi-directional Deformable Actuator

The paper presents the design guidelines and early prototyping of a 3-D printed pressure-driven deformable actuator that can actively contract and expand. The actuator is entirely realized through FDM (Fused Deposition Modelling) technologies and affordable materials. The basic working principle of the actuator is presented and its functional design is supported by preliminary considerations and final design guidelines. Additional information about the first prototype and a few practical details are provided.