{
  "abstract": "The natural cardiac cycle is divided into the systole and diastole phases which encompass four distinct stages: isovolumetric contraction and ejection during systole, followed by isovolumetric relaxation and filling during diastole. Cardiovascular modeling of this cycle ranges from high-fidelity multiphysics simulations to reduced-order lumped-parameter (Windkessel) representation of the heart-artery coupling. However, current models do not relate the mechanics of the actuator driving the ventricle pump to the hemodynamics. In this study, we develop and experimentally validate a predictive design framework for ventricle-like pumps using various types of soft contractile actuators. We build a circulatory loop which reproduces the entire loop including the isovolumetric phases-where pressure changes occur without volume shifts. The framework is based on a lumped-parameter model, hereafter referred to as the phase-dependent Actuator-driven Windkessel 3-element (AWK3) model, to bridge soft actuator mechanics to the cardiac pressure-volume (P-V) loop. Unlike traditional models that require either pressure or volume as a fixed input to estimate the other, our proposed model predicts both variables when informed by the isometric characteristics of the actuators. We validate the model using a ventricle-inspired pump driven by a linear contractile series-elastic actuator or twisted and coiled polymer actuators (TCPA). We relate the actuator isometric testing protocol to the phase-dependent AWK3 model, which replicates the Frank-Starling law, accurately describing cardiac behavior under varying conditions of preload, afterload, and inotropy (contractility). This approach provides a robust platform for the design and high-fidelity control of bio-inspired soft robotic circulatory systems.",
  "abstract_shown": true,
  "affiliations": [],
  "article_type": null,
  "arxiv": "2609.09706",
  "author_total": 7,
  "authors": [
    {
      "name": "Jeongmin Kim"
    },
    {
      "name": "Qiong Wang"
    },
    {
      "name": "Liuyang Cheng"
    },
    {
      "name": "Samuel Tsai"
    },
    {
      "name": "Seong Hyeon Kim"
    },
    {
      "name": "Harma K. Turbendian"
    },
    {
      "name": "Sameh Tawfick"
    }
  ],
  "bibtex": "https://research.draconitic.com/paper/67p06th2c1wp2.bib",
  "cited_by": 0,
  "doi": "10.48550/arxiv.2609.09706",
  "fulltext_url": null,
  "id": "67p06th2c1wp2",
  "issns": [],
  "landing_url": "https://arxiv.org/abs/2609.09706",
  "language": null,
  "licence": "CC-BY-4.0",
  "licence_label": "CC BY 4.0",
  "licence_source": "article",
  "licence_url": "http://creativecommons.org/licenses/by/4.0/",
  "metadata_licence": "CC0-1.0",
  "native_subjects": [
    [
      "arxiv",
      "physics.app-ph"
    ],
    [
      "openalex",
      "2204|Soft Robotics and Applications"
    ]
  ],
  "openalex": "W7212121591",
  "pdf_url": "https://arxiv.org/pdf/2609.09706",
  "pmcid": null,
  "pmid": null,
  "published": "2026-09-09",
  "publisher": null,
  "ris": "https://research.draconitic.com/paper/67p06th2c1wp2.ris",
  "sources": [
    {
      "first_seen": "2026-10-30T12:20:12Z",
      "native_id": "2609.09706",
      "source": "arxiv",
      "url": "https://arxiv.org/abs/2609.09706"
    }
  ],
  "subjects": [
    {
      "field": "physics",
      "origin": "arxiv:physics.app-ph",
      "subfield": "applied-instrumentation"
    }
  ],
  "title": "A Predictive Design Framework for a Soft Robotic Ventricle using Contractile Actuators",
  "title_text": "A Predictive Design Framework for a Soft Robotic Ventricle using Contractile Actuators",
  "type": "preprint",
  "updated_at": "2026-10-30T12:20:12Z",
  "url": "https://research.draconitic.com/paper/67p06th2c1wp2",
  "venue": "arXiv",
  "versions": []
}