Fabric-Reinforced Actuator for Soft Robotic Massaging Device

Mechanotherapy, the use of mechanical stimuli for therapeutic purposes, has gained significant interest in the field of soft robotics, offering new opportunities for precise and adaptable therapeutic interventions. This study aims to replicate the effects of manual mechanotherapeutic massage using a fabric-reinforced soft actuator. By patterning the actuator fabric, the device achieves a three-dimensional trajectory, simulating the complex motions typically performed by therapists. The actuator produces forces ranging from 0.25 to 0.38 N, corresponding to contact pressures of 2.8–4.2 kPa, with a stroke displacement of 77 mm. It delivers a controlled curved trajectory with both unidirectional and bidirectional force capabilities, ensuring adaptability and precision in therapeutic applications. These results demonstrate the ability of the actuator to provide consistent and repeatable performance while ensuring safe operation by maintaining actuation below maximum pressure limits. The study underscores the potential of soft robotic devices in expanding the scope of mechanotherapy, offering a customizable and scalable alternative to traditional manual techniques.