Bio-Inspired Modular Pneumatic Actuator for Peristaltic Transport

We present the design, development, and testing of a bio-inspired, modular soft robotic peristaltic actuator for transporting delicate and irregularly shaped objects. Motivated by the need for underwater systems that can safely transport fragile specimens, such as coral reefs, we propose a system that is scalable, easy to assemble, and repairable, ensuring that a single malfunctioning module does not compromise the entire operation. The actuator system employs multiple actuation modules synchronized through pressure feedback to perform object handling and transport without requiring complex control algorithms. Our experiments demonstrate the system's ability to grasp and move objects of varying shapes and stiffness, while maintaining a balance between responsiveness and robustness. This approach provides a versatile solution for object transport in challenging environments, and offers insights for further development of soft robotic systems.