Soft Robotic Actuation Using Magnetorheological Fluids: Effects of Fluid Properties

We study the behavior of a soft robotic actuator. The device flows magnetorheological (MR) fluid through the actuator using a peristaltic pump, and the actuation is initiated by applying a magnetic field to locally solidify the fluid. This creates a pressure buildup in the actuator, which then bends due to a differential stiffness between its two sides. We investigate how different properties of the MR fluid (particle size, non-Newtonian rheology, etc.) and device geometry affect actuation efficacy. The actuation efficacy is quantified by both the speed of actuation and the force produced by the actuator. The results are compared to determine the best combination of MR fluid parameters and device architecture for robust actuation.