Reading: Design of a Tele-operable Soft Actuator


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Section II

Design of a Tele-operable Soft Actuator


P. D. S. H. Gunawardane ,

The University of British Columbia, Vancouver, CA
About P. D. S. H.

Graduate Research Student, Department of Mechanical Engineering

AMIE(SL), MIEEE, B.Tech.Eng.(Hons) (OUSL), M.A.Sc. (UBC), PhD (Reading) (UBC)

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R. E. A. Pallewela,

The Open University of Sri Lanka, LK
About R. E. A.

Department of Mechanical Engineering

AMIE (SL), B.Tech.Eng. (OUSL)

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T. M. D. N. T. Medagedara

The Open University of Sri Lanka, LK
About T. M. D. N. T.

Senior Lecturer in Department of Mechanical Engineering

C.Eng., MIE(SL), MIEEE, B.Sc. Eng. (Hons) (Peradeniya), MPhil. (SHU)

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Communication delay between robotic control systems and the robotic actuator is a major issue since the soft robotic motion requires controls to be precise and have quick responses. This is also essential for real time control of robots where the user should be able to send and receive signals with minimum delay to emulate a real time control. Specifically, in soft robotics , the communication delay could become a bigger issue due to the fact that soft robots require mode of pressure exerted into the actuator to make any kind of motion. A delay in such instances could cause the whole system to malfunction and even could cause the actuator to explode in the case of rapid and subtle changes in internally applied pressure. In this research, available IoT (Internet of Things) related systems and models have been studied and suitable IoT system was designed. The main focus of this research was to study the communication delay in IoT embedded hand gesture controlled soft robot finger (actuator). Two separate data processing units have been introduced in the master side and in the slave side to rapid capturing and sending data. By using this approach, processing delay is expected to be minimized. Transmission delay, propagation delay and queuing delay are found to be handled through external factors. These factors could be changed by using various kinds of servers and service providers. Soft elastomer actuator was designed and developed using standard rapid prototyping and soft lithography techniques generally used in soft robotics. Testing, data collecting and analyzing the system are carried out at various locations in Sri lanka and finally the Round Trip Delay Time (RTD) for each case was compared.
How to Cite: Gunawardane, P.D.S.H., Pallewela, R.E.A. and Medagedara, T.M.D.N.T., 2020. Design of a Tele-operable Soft Actuator. Engineer: Journal of the Institution of Engineers, Sri Lanka, 53(1), pp.55–61. DOI:
Published on 27 Jul 2020.
Peer Reviewed


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