Moseley, PhilipFlorez, Juan ManuelSonar, Harshal ArunAgarwal, GunjanCurtin, WilliamPaik, Jamie2016-01-062016-01-062016-01-06201610.1002/adem.201500503https://infoscience.epfl.ch/handle/20.500.14299/122028WOS:000378684200012This work presents a comprehensive open-source simulation and design tool for Soft pneumatic actuators (SPAs) using finite element method, compatible and extensible to a diverse range of soft materials and design parameters. Thorough characterization of the hyperelastic and viscoelastic behavior is illustrated using a sample soft material (Ecoflex 00_30), and an appropriate material constitutive law. SPA performance (displacement and blocked-force) are simulated for two types of SPA and validated with experimental testing. Real-world case studies are presented in which SPA designs are iteratively optimized through simulation to meet specified performance criteria and geometric constraints.text::journal::journal article::research article