Elastic Fiber Programming for Simplified Pneumatic Control in Soft Robots

Conventional pneumatic soft robots require complex control systems with multiple valves and circuits due to coupled structural and pneumatic dynamics. A strategy is presented to program the pneumatic response characteristics of soft actuators by embedding elastic fibers with tailored materials and pre-stretch ratios, enabling structurally identical modules to exhibit distinct pressure-driven responses. A 6 mm-diameter actuator prototype demonstrates this paradigm, achieving a 2632% load ratio and 225°/s bending speed at a material cost of 9 cents. Crucially, a single pneumatic input suffices for multi-step actuation-shown in pipeline-climbing robots, omnidirectional crawlers, and grippers adapting to objects from 10 to 450 g. This fusion of material programming and mechanical intelligence simplifies control architectures while enhancing functionality, offering a scalable path toward deployable soft robotics.