Published 2024 | Version v1
Journal article Open

On the coexistence of pressure regulation and oscillation modes in soft hysteretic valves

  • 1. AMOLF
  • 2. ROR icon Eindhoven University of Technology

Description

This dataset contains data and code to replicate main and supplemental figures for the related article published in the Journal of Fluids and Structures titled:

On the coexistence of pressure regulation and oscillation modes in soft hysteretic valves

https://www.sciencedirect.com/science/article/pii/S0889974624000252

Abstract:

Fluidic circuits are a promising recent development in embodied control of soft robots. These circuits typically make use of highly non-linear soft components to enable complex behaviors given simple inputs, such as constant flow or pressure. This approach greatly simplifies control, as it removes the need for external hardware or software. However, detailed fundamental understanding of the non-linear, coupled fluidic and mechanical behavior of these components is lacking. Such understanding is needed to guide new designs and increase the reliability of increasingly autonomous soft robots. Here, we develop an analytical model that captures the coexistence of a pressure regulation mode and an oscillatory mode in a specific soft hysteretic valve design, that we previously used to achieve reprogrammable activation patterns in soft robots. We develop a model that describes the mechanics, fluidics and dynamics of the system by two coupled non-linear ordinary differential equations. The model shows good agreement with the experimental evidence, as well as correctly predicts the effect of design changes. Specifically, we experimentally show that we can remove the regulation mode at low input flow rates by changing the fluidic response of the valve. Taken together, the present study contributes to better understanding of system-level behavior of fluidic circuits for controlling soft robots. This may contribute to the reliability of soft robots with embodied control in future applications such as autonomous exploration and medical prosthetic devices.

Files

vanLaake and Comoretto Journal of Fluids and Structures Coexistence of Regulation and Oscillation.zip

Additional details

Related works

Is cited by
Journal article: 10.1016/j.jfluidstructs.2024.104090 (DOI)

Funding

European Commission
HybridHeart – Development of the first fully biocompatible, soft actuated heart: combining in situ tissue engineering and soft robotics 767195
European Commission
FlowBot – Smart fluidic circuits for autonomous soft robots 948132

Software

Programming language
MATLAB