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Digital logic for soft devices.

Daniel J Preston1,2, Philipp Rothemund1,3,4, Haihui Joy Jiang1,5,6

  • 1Department of Chemistry and Chemical Biology, Harvard University, Cambridge, MA 02138.

Proceedings of the National Academy of Sciences of the United States of America
|March 30, 2019
PubMed
Summary
This summary is machine-generated.

Researchers developed fully soft pneumatic logic gates for controlling soft robots. These gates enable autonomous operation without electronics, paving the way for advanced soft robotic systems.

Keywords:
artificial intelligencebucklingcontrolhuman–soft device interactionlogic

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Area of Science:

  • Robotics
  • Pneumatic Systems
  • Soft Matter

Background:

  • Soft devices are increasingly used in robotics but lack autonomy.
  • Conventional control systems for soft devices require rigid valves and electronics.
  • Developing autonomous control for soft devices without external interfaces is a significant challenge.

Purpose of the Study:

  • To introduce completely soft pneumatic digital logic gates for macroscopic soft actuators.
  • To demonstrate the fabrication of digital logic circuits using these soft gates.
  • To advance the development of autonomous control for soft devices.

Main Methods:

  • Designed and fabricated soft pneumatic NOT, AND, and OR logic gates.
  • Utilized bistable valves based on snap-through instability of hemispherical membranes.
  • Constructed digital logic circuits including latches, shift registers, and converters.
  • Integrated circuits to control soft actuators, such as a pneu-net gripper.

Main Results:

  • Successfully created functional soft pneumatic logic gates (NOT, AND, OR).
  • Demonstrated the ability to build complex digital logic circuits from these soft gates.
  • Showcased control of a soft actuator using a soft digital-to-analog converter and toggle switch.
  • Confirmed scalability to high airflow volumes and reconfigurability.

Conclusions:

  • Soft pneumatic logic gates offer a pathway to autonomous control for soft devices without electronic interfaces.
  • These gates are suitable for macroscopic soft actuators and can be integrated into complex systems.
  • The developed technology supports reconfigurable functionalities and environmental input integration.