公开(公告)号：US20230166408A1

公开(公告)日：2023-06-01

申请号：US18070657

申请日：2022-11-29

Applicant: POSTECH Research and Business Development Foundation

Inventor： Hyung Gon SHIN ,  Keehoon Kim ,  Wan Kyun Chung

IPC: B25J15/00 ,  F15B15/10

CPC classification number: B25J15/0023 ,  B25J15/0033 ,  F15B15/10 ,  F15B2215/30

Abstract: Disclosed is a multi-layer soft pneumatic actuator, including: a surface layer including driving protrusions formed on one surface; a first chamber layer stacked on the other surface of the surface layer and including a first chamber configured to partially overlap the driving protrusion; a second chamber layer stacked on a layer different from the first chamber layer on the other surface of the surface layer, including a second chamber having a partial region overlapping the driving protrusion and the first chamber; and an air line layer configured to inject air into each of the first chamber and the second chamber.