Despite an ever increasing variety of soft sensors and actuators, there are only a few entirely soft robots that integrate both modalities into an autonomous system. Often, a minimum set of rigid components such as microcontrollers, are embedded into soft systems, compromising their flexibility. This has led to growing interest in entirely compliant versions of controllers for soft robots. In this work, we present the first integration of two such soft control systems: the soft, bistable valve and the soft matter computer. By combining them we allow information to pass from the pneumatic to the electrical domain, enabling control of electric soft actuators with pneumatic control signals. Our work is an important step towards the development of fully compliant robots and machines.
|Title of host publication||2021 IEEE 4th International Conference on Soft Robotics, RoboSoft 2021|
|Publisher||Institute of Electrical and Electronics Engineers (IEEE)|
|Number of pages||4|
|Publication status||E-pub ahead of print - 12 Jul 2021|
|Name||2021 IEEE 4th International Conference on Soft Robotics, RoboSoft 2021|
Bibliographical noteFunding Information:
email: firstname.lastname@example.org MG and HH were supported by the Leverhulme Trust Research Project RPG-2016-345. AC was supported by EPSRC research grant EP/R02961X/1. JR was supported through EPSRC research grants EP/S026096/1, EP/R02961X/1 and EP/M020460/1, and by the Royal Academy of Engineering as a Chair in Emerging Technologies. We would also like to acknowledge the startup funding from WPI for salary support of MPN. 1Department of Engineering Mathematics, University of Bristol, UK 2Department of Mechanical Engineering, University of Bristol, UK 3SoftLab, Bristol Robotics Laboratory, University of Bristol and University of the West of England, UK 4Nemitz Robotics Group, Department of Robotics Engineering, Worcester Polytechnic Institute, MA, USA Data are available at the University of Bristol data repository, data.bris, at https://doi.org/10.5523/bris.1lwtezdrafm2e29fvz5dorzvj2.
© 2021 IEEE.