Programmable soft robotics actuator with pneumatic networks (PneuNets)

Yulyan Wahyu Hadi, Basilius Agung Yason Sunarya, Athar Fadlankahlil Alifdhyatra, Egi Hidayat, Jonathan Salomo, A. Purwidyantri, Brilliant Adhi Prabowo, Isa Anshori

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Abstract

In this paper, we studied pneumatic networks (PneuNets) platform fabrication and evaluated the effect of variations in design parameters and inextensible layer materials on the bending angle of PneuNets. We also developed a pneumatically driven soft robot that required pressurized gas to move according to its function. A programmable pneumatic pump circuit comprising a direct current (DC) air pump and valves connected with tubes was used to actuate the platform and control the internal pressure. Two control methods were tested: a straightforward on-off control and a proportional-integral (PI) control based on a linear model derived from system identification. Comparisons for input tracking performance were made, with on-off control providing a better error performance than PI control, producing an oscillation of 2 kPa along the reference input. The results of parameter variations of PneuNets designs conclude the strategies to obtain a larger bending angle: thinner inner chamber walls, lengthened size of the PneuNets, increased number of chambers, and a smaller grammage and thickness of the inextensible layer.
Original languageEnglish
Pages (from-to)19382-19389
Number of pages8
JournalIEEE Sensors Journal
Volume23
Issue number17
Early online date25 Jul 2023
DOIs
Publication statusPublished - 01 Sept 2023

Bibliographical note

Publisher Copyright:
© 2001-2012 IEEE.

Keywords

  • Extensible layer
  • inextensible layer
  • pneumatic pump
  • pressure control
  • soft robotics

ASJC Scopus subject areas

  • Instrumentation
  • Electrical and Electronic Engineering

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