A fluidic relaxation oscillator for reprogrammable sequential actuation in soft robots

Lucas C. van Laake; Jelle de Vries; Sevda Malek Kani; Johannes T.B. Overvelde

doi:10.1016/j.matt.2022.06.002

A fluidic relaxation oscillator for reprogrammable sequential actuation in soft robots

Lucas C. van Laake
, Jelle de Vries
, Sevda Malek Kani
, Johannes T.B. Overvelde (Corresponding author)

Onderzoeksoutput: Bijdrage aan tijdschrift › Tijdschriftartikel › Academic › peer review

83 Citaten (Scopus)

437 Downloads (Pure)

Samenvatting

Despite exciting developments in soft robotics, fully autonomous systems remain elusive. Fluidic circuits could enable fully embedded control of soft robots without using electronics. In this work, we introduce a simple and compact soft valve with intentional hysteresis, analogous to an electronic relaxation oscillator. By integrating the valve with a soft actuator, we transform a continuous inflow to cyclic activation. Importantly, we show that our circuits can activate up to five actuators in various sequences and that we can physically reprogram the activation order by varying the (initial) conditions in the fluidic circuit. Moreover, we show the feasibility of our approach under more realistic conditions by building a four-legged robot. Our work paves the way toward fully autonomous soft robots that can interact with their environment to reprogram their behavior, e.g., to trigger targeted drug release inside our body or to change gait to move past obstacles.

Originele taal-2	Engels
Pagina's (van-tot)	2898-2917
Aantal pagina's	20
Tijdschrift	Matter
Volume	5
Nummer van het tijdschrift	9
DOI's	https://doi.org/10.1016/j.matt.2022.06.002
Status	Gepubliceerd - 7 sep. 2022

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Publisher Copyright:
© 2022 The Author(s)

Financiering

This project has received funding from the European Union’s Horizon 2020 research and innovation program under grant agreement no. 767195 . This work is part of the Dutch Research Council (NWO) and was performed at the research institute AMOLF. This project has received funding from the European Union's Horizon 2020 research and innovation program under grant agreement no. 767195. This work is part of the Dutch Research Council (NWO) and was performed at the research institute AMOLF. Conceptualization, L.C.v.L. and J.T.B.O.; methodology, L.C.v.L. and J.T.B.O.; software, L.C.v.L.; formal analysis, L.C.v.L. and J.T.B.O.; investigation, L.C.v.L. J.d.V. and S.M.K.; writing – original draft, L.C.v.L. and J.T.B.O.; writing – review & editing, L.C.v.L. and J.T.B.O.; visualization, L.C.v.L.; supervision, J.T.B.O.; funding acquisition, J.T.B.O. The authors declare no competing interests.

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10.1016/j.matt.2022.06.002

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title = "A fluidic relaxation oscillator for reprogrammable sequential actuation in soft robots",

abstract = "Despite exciting developments in soft robotics, fully autonomous systems remain elusive. Fluidic circuits could enable fully embedded control of soft robots without using electronics. In this work, we introduce a simple and compact soft valve with intentional hysteresis, analogous to an electronic relaxation oscillator. By integrating the valve with a soft actuator, we transform a continuous inflow to cyclic activation. Importantly, we show that our circuits can activate up to five actuators in various sequences and that we can physically reprogram the activation order by varying the (initial) conditions in the fluidic circuit. Moreover, we show the feasibility of our approach under more realistic conditions by building a four-legged robot. Our work paves the way toward fully autonomous soft robots that can interact with their environment to reprogram their behavior, e.g., to trigger targeted drug release inside our body or to change gait to move past obstacles.",

keywords = "autonomous, fluidic ciruits, hysteresis, instability, MAP2: Benchmark, reprogrammable behavior, sequential activation, soft robotics, valve",

author = "\{van Laake\}, \{Lucas C.\} and \{de Vries\}, Jelle and \{Malek Kani\}, Sevda and Overvelde, \{Johannes T.B.\}",

note = "Funding Information: This project has received funding from the European Union{\textquoteright}s Horizon 2020 research and innovation program under grant agreement no. 767195 . This work is part of the Dutch Research Council (NWO) and was performed at the research institute AMOLF. Funding Information: This project has received funding from the European Union's Horizon 2020 research and innovation program under grant agreement no. 767195. This work is part of the Dutch Research Council (NWO) and was performed at the research institute AMOLF. Conceptualization, L.C.v.L. and J.T.B.O.; methodology, L.C.v.L. and J.T.B.O.; software, L.C.v.L.; formal analysis, L.C.v.L. and J.T.B.O.; investigation, L.C.v.L. J.d.V. and S.M.K.; writing – original draft, L.C.v.L. and J.T.B.O.; writing – review \& editing, L.C.v.L. and J.T.B.O.; visualization, L.C.v.L.; supervision, J.T.B.O.; funding acquisition, J.T.B.O. The authors declare no competing interests. ",

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AU - de Vries, Jelle

AU - Malek Kani, Sevda

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N1 - Funding Information: This project has received funding from the European Union’s Horizon 2020 research and innovation program under grant agreement no. 767195 . This work is part of the Dutch Research Council (NWO) and was performed at the research institute AMOLF. Funding Information: This project has received funding from the European Union's Horizon 2020 research and innovation program under grant agreement no. 767195. This work is part of the Dutch Research Council (NWO) and was performed at the research institute AMOLF. Conceptualization, L.C.v.L. and J.T.B.O.; methodology, L.C.v.L. and J.T.B.O.; software, L.C.v.L.; formal analysis, L.C.v.L. and J.T.B.O.; investigation, L.C.v.L. J.d.V. and S.M.K.; writing – original draft, L.C.v.L. and J.T.B.O.; writing – review & editing, L.C.v.L. and J.T.B.O.; visualization, L.C.v.L.; supervision, J.T.B.O.; funding acquisition, J.T.B.O. The authors declare no competing interests.

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N2 - Despite exciting developments in soft robotics, fully autonomous systems remain elusive. Fluidic circuits could enable fully embedded control of soft robots without using electronics. In this work, we introduce a simple and compact soft valve with intentional hysteresis, analogous to an electronic relaxation oscillator. By integrating the valve with a soft actuator, we transform a continuous inflow to cyclic activation. Importantly, we show that our circuits can activate up to five actuators in various sequences and that we can physically reprogram the activation order by varying the (initial) conditions in the fluidic circuit. Moreover, we show the feasibility of our approach under more realistic conditions by building a four-legged robot. Our work paves the way toward fully autonomous soft robots that can interact with their environment to reprogram their behavior, e.g., to trigger targeted drug release inside our body or to change gait to move past obstacles.

AB - Despite exciting developments in soft robotics, fully autonomous systems remain elusive. Fluidic circuits could enable fully embedded control of soft robots without using electronics. In this work, we introduce a simple and compact soft valve with intentional hysteresis, analogous to an electronic relaxation oscillator. By integrating the valve with a soft actuator, we transform a continuous inflow to cyclic activation. Importantly, we show that our circuits can activate up to five actuators in various sequences and that we can physically reprogram the activation order by varying the (initial) conditions in the fluidic circuit. Moreover, we show the feasibility of our approach under more realistic conditions by building a four-legged robot. Our work paves the way toward fully autonomous soft robots that can interact with their environment to reprogram their behavior, e.g., to trigger targeted drug release inside our body or to change gait to move past obstacles.

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KW - instability

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KW - valve

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A fluidic relaxation oscillator for reprogrammable sequential actuation in soft robots

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