: A Toroidal Skin Locomotive Device

Neung Ryu, Andrea Bianchi

BAEM is a soft robot made of elastic LDPE(Low-density polyethylene) toroidal skin and mechanical parts inside the skin. When it operates, two motors pull one side of the skin inward, resulting in shrinkage while the opposite side grows simultaneously due to the air pressure. As a result, the entire skin rotates like a continuous track, and the device can move back and forth. As a next step, we are expecting to shape the skin not only in linear-toroidal shape but also in helical-toroidal shape to make it wearable in limbs and crawl the body.

This work was presented at the 2019 Korea Haptics Workshop.