Development and characterization of a novel biomimetic peristaltic pumping system with flexible silicone-based soft robotic ring actuators

Abstract

In nature and technology peristaltic pumping systems can be found transporting various media in a simple and secure way. In the field of soft robotics different types of peristaltic pumping systems exist, most with rigid framing and complex actuators like pneumatic network (pneu-net) fluidic elastomer actuators or artificial muscles. The novel biomimetic peristaltic pumping system presented in this study is actuated by silicone-based, flexible, compliant, lightweight pneumatic ring actuators with an elliptical inner conduit. Single actuators as well as the whole peristaltic pumping system are characterized in terms of occlusion rate and volume flow rate. The characterization indicates that the developed flexible and elastic silicone-based peristaltic pump achieves sufficient flow rates and can be an alternative to conventional technical pumps.