P-V Loop Shape as a Fatigue Health Indicator — Preprint v1.3

Preprint v1.3
Simulation study of pressure-volume loop shape as a fatigue health indicator for pressure-only proprioception in shared-manifold soft pneumatic grippers.

Included in this version

• 2,000 synthetic traces covering actuator life stage, supply topology, contact state, and repeated trials
• Evaluation of static and dynamic pressure-only pose correctors
• P-V loop-area health-indicator and trigger-timing analysis
• Comparison of recalibration policies
• Reproducible simulation, analysis, and figure-generation scripts

Scope
This release reports simulation results only. It does not include physical actuator experiments or hardware validation. See the repository README and RESULTS.md for reproduction instructions, assumptions, limitations, and figure provenance.