Vacuum-driven artificial muscles exploiting snap-through instability for fast and efficient actuation

Rabiu Onoruoiza Mamman; Salvatore Garofalo; Luigi Bruno; Leonardo Pagnotta; Giada Risso; Caterina Lamuta

doi:10.1088/1361-665X/ae620b

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Vacuum-driven artificial muscles exploiting snap-through instability for fast and efficient actuation

Journal article

Open access

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Vacuum-driven artificial muscles exploiting snap-through instability for fast and efficient actuation

Rabiu Onoruoiza Mamman, Salvatore Garofalo, Luigi Bruno, Leonardo Pagnotta, Giada Risso and Caterina Lamuta

Smart materials and structures, Vol.35(5), 055004

04/20/2026

DOI: 10.1088/1361-665X/ae620b

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Abstract

In this study, we present a vacuum-driven artificial muscle capable of rapid linear contraction through snap-through instability. The actuator consists of a rigid 3D-printed skeleton enclosed within a sealed membrane. We investigate how material selection influences the instability and bistability behavior of the actuator by comparing two systems: 3D-printed PLA and Flexible 80A resin. Using a combined experimental and finite element approach, we characterize the snap-through response. In particular, we assess the effects of material selection and loading conditions through a combination of quasi-static and dynamic cyclic testing. Experiments showed that the proposed artificial muscles were able to provide both reversible actuation and self-locking under varying applied loads. Peak performance was achieved with an actuation speed of ~325.4 mm/s (PLA 100% infill under 0.1 kg load) and an efficiency of ~50% (PLA 75% infill under 0.5 kg load) under relatively low vacuum pressures (-39 – -69 kPa). These results compare favorably with vacuum-driven artificial muscles reported in the literature, highlighting the advantage of incorporating snap-through instability as the actuation mechanism.

snap-through

bistability

mechanical-instability

linear actuator

vacuum pneumatic artificial muscle

Details

Title: Subtitle: Vacuum-driven artificial muscles exploiting snap-through instability for fast and efficient actuation
Creators: Rabiu Onoruoiza Mamman
Salvatore Garofalo
Luigi Bruno
Leonardo Pagnotta
Giada Risso
Caterina Lamuta
Resource Type: Journal article
Publication Details: Smart materials and structures, Vol.35(5), 055004
DOI: 10.1088/1361-665X/ae620b
ISSN: 0964-1726
eISSN: 1361-665X
Publisher: IOP
Grant note: Swiss National Science Foundation: P500PT-217901 Office of the Naval Research: N00014-22-1-2021 Next Generation EU: DM 1557 11.10.2022
C.L. acknowledges support from the Office of the Naval Research under YIP Grant #N00014-22-1-2021.
Language: English
Date published: 04/20/2026
Academic Unit: Roy J. Carver Department of Biomedical Engineering; Mechanical Engineering
Record Identifier: 9985157606002771

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