Bulletin of the American Physical Society
APS March Meeting 2023
Volume 68, Number 3
Las Vegas, Nevada (March 5-10)
Virtual (March 20-22); Time Zone: Pacific Time
Session Q10: Robophysics I
3:00 PM–6:00 PM,
Wednesday, March 8, 2023
Room: Room 202
Sponsoring
Unit:
DBIO
Chair: Daniel Goldman, Georgia Tech
Abstract: Q10.00013 : Endowing Soft Robots with Fluidic Counting
5:48 PM–6:00 PM
Presenter:
Sergio Picella
(AMOLF, TU/e)
Author:
Sergio Picella
(AMOLF, TU/e)
Although useful for accurate estimates and fast response times, such a strategy imposes additional complexity in both hardware and software that often undermines the simplicity, resistance of the soft robotic unit.
With the goal to allow soft robots to be autonomous and resilient, we present a smart fluidic circuit that paves the way to such features with no need of electronics.
Our fluidic circuit is based on a soft hysteretic valve combined with kinking tubes, that can be used as a discrete event counter in soft robots.
We demonstrate our strategy with two case studies. First, when controlled in flow, our design results in a discrete clock that can be used to define different programmes in soft robots. Secondly, when the very same circuit is used in pressure control, external events can trigger our circuit and result in a fully soft fluidic event counter. Not only does our proposed design allow for discrete binary counting that can be easily remapped to traditional binary logic, it also can be used for counting in a non-binary base, keeping the same fluidic circuit.
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