Programmable Pressure Control in Pneumatic Soft Robots With 2-Way 2-State Solenoid Valves

摘要

Pneumatic soft robotics is known for its high adaptability and strong load capacity, and the pneumatic control system is regarded as the neural system of pneumatic soft robots to transmit signals and control pressure. The control accuracy and responsiveness of the system are critical to the performance of soft robots. In this paper, we proposed a low-cost pneumatic system configuration with a pressure control strategy, which was capable of programmable pressure states with just 2-way 2-state solenoid valves. A pneumatic system prototype with 12 independent air branches was developed. Experimental results showed that the pressure control strategy was able to achieve the control accuracy within 1 kPa, and adjust the speed of inflation and deflation. Further, the three robot applications verified its capability to meet diverse pressure demands of soft robots. This innovative system makes contributions to actuation and control within the field of soft robotics as a versatile pneumatic platform.