  In this study, we introduce a novel Mylar-based pouch motor design that
leverages the reversible actuation capabilities of Peltier junctions to enable
agonist-antagonist muscle mimicry in soft robotics. Addressing the limitations
of traditional silicone-based materials, such as leakage and phase-change fluid
degradation, our pouch motors filled with Novec 7000 provide a durable and
leak-proof solution for geometric modeling. The integration of flexible Peltier
junctions offers a significant advantage over conventional Joule heating
methods by allowing active and reversible heating and cooling cycles. This
innovation not only enhances the reliability and longevity of soft robotic
applications but also broadens the scope of design possibilities, including the
development of agonist-antagonist artificial muscles, grippers with can
manipulate through flexion and extension, and an anchor-slip style simple
crawler design. Our findings indicate that this approach could lead to more
efficient, versatile, and durable robotic systems, marking a significant
advancement in the field of soft robotics.
