A soft and dexterous motor

Iain A. Anderson, Tony Chun Hin Tse, Tokushu Inamura, Benjamin M. O'Brien, Thomas McKay, Todd Gisby

Research output: Contribution to journalArticlepeer-review

44 Citations (Scopus)


We present a soft, bearing-free artificial muscle motor that cannot only turn a shaft but also grip and reposition it through a flexible gear. The bearing-free operation provides a foundation for low complexity soft machines, with multiple degree-of-freedom actuation, that can act simultaneously as motors and manipulators. The mechanism also enables an artificial muscle controlled gear change. Future work will include self-sensing feedback for precision, multidegree-of-freedom operation.

Original languageEnglish
Article number123704
JournalApplied Physics Letters
Issue number12
Publication statusPublished - Mar 21 2011
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Physics and Astronomy (miscellaneous)


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