FIG. 5.

High-force soft actuated platform. Photograph (a) depicts the actual multi-DoF platform surrounded by a rigid aluminum frame, along with a depiction of the angular DoF used in moment measurement. Diagram (b) illustrates the configuration of the platform from a top view, showing the concentric array of SPA packs. The blocked force measurement configuration (c) is used to measure total vertical force capacity of the actuated platform. The blocked moment measurement configuration shown in (d) is used to measure the maximum moment applicable on the pitch axis by two synchronized modules, as well as to measure the moment frequency response of the system. The curved arrows indicate the direction of angular displacement upon activation from rest at horizontal. Color images available online at www.liebertpub.com/soro