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Updated: Oct 21, 2025

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Hardware Methods for Onboard Control of Fluidically Actuated Soft Robots.

Kevin McDonald1, Tommaso Ranzani1,2

  • 1Morphable Biorobotics Laboratory, Department of Mechanical Engineering, Boston University, Boston, MA, United States.

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Summary

This review explores onboard control hardware for soft fluidic robots, focusing on novel valve designs. It aims to guide soft roboticists in selecting appropriate control systems for diverse applications.

Keywords:
controlfluidic actuationmicrofluicssmart fluidssoft actuatorsoft robotics

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Area of Science:

  • Robotics
  • Fluidic Actuation
  • Microfluidics

Background:

  • Soft robots offer advantages in dexterity and human interaction over rigid robots.
  • Fluidic actuation is common but faces challenges in precise control and miniaturization.
  • External controllers limit autonomy, increase stiffness, and reduce reaction speed.

Purpose of the Study:

  • To review the state-of-the-art in onboard control hardware for soft fluidic robots.
  • To emphasize novel valve designs and compare different control techniques.
  • To provide metrics for evaluating and selecting control systems for soft robots.

Main Methods:

  • Review of existing literature on integrated control hardware for soft fluidic robots.
  • Analysis of novel valve designs and microfluidic control strategies.
  • Development of comparison metrics for evaluating control system performance.

Main Results:

  • Overview of prevailing onboard control techniques for soft fluidic robots.
  • Comparison of different valve designs and their suitability for various applications.
  • Identification of key metrics for assessing control system performance.

Conclusions:

  • Onboard control hardware is crucial for enhancing the autonomy and performance of soft fluidic robots.
  • Novel valve designs and integrated microfluidic systems offer promising solutions for advanced control.
  • Selection of appropriate control systems requires careful consideration of application-specific needs and available technologies.