A comparative analysis of typical drive methods for soft robots

Abstract

Soft robots represent an emerging class of robots characterized by strong adaptability, excellent flexibility, and high maneuverability. Today, they are widely used in fields such as bioengineering, disaster relief, industrial production, medical services, exploration, and surveying. Drive technology is a key factor limiting their performance. Based on a review and analysis of relevant domestic and international literature from recent years, this paper investigates three typical and common drive methods: pneumatic drive, hydraulic drive, and dielectric elastomer drive. The paper elucidates the principles and research progress of these three drive methods and compares their advantages and disadvantages from multiple perspectives, including response speed, execution accuracy, output power, and application scenarios. The results indicate that pneumatic drive technology is highly mature and offers balanced overall performance; hydraulic drive can achieve high output force and power but results in bulky equipment; and dielectric elastomer drive offers fast response speeds but requires a higher drive voltage. This study provides a theoretical reference for the selection of soft robot actuators and the research and development of hybrid drive systems.