A soft ring oscillator

Preston, Daniel J.; Jiang, Haihui Joy; Sanchez, Vanessa; Rothemund, Philipp; Rawson, Jeff; Nemitz, Markus P.; Lee, Won-Kyu; Suo, Zhigang; Walsh, Conor J.; Whitesides, George M.

doi:10.1126/scirobotics.aaw5496

Title: A soft ring oscillator

Journal Article · 26 June 2019 · Science Robotics

DOI: https://doi.org/10.1126/scirobotics.aaw5496 · OSTI ID:1529671

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Periodic actuation of multiple soft, pneumatic actuators requires coordinated function of multiple, separate components. This work demonstrates a soft, pneumatic ring oscillator that induces temporally coordinated periodic motion in soft actuators using a single, constant-pressure source, without hard valves or electronic controls. The fundamental unit of this ring oscillator is a soft, pneumatic inverter (an inverting Schmitt trigger) that switches between its two states (“on” and “off”) using two instabilities in elastomeric structures: buckling of internal tubing and snap-through of a hemispherical membrane. An odd number of these inverters connected in a loop produces the same number of periodically oscillating outputs, resulting from a third, system-level instability; the frequency of oscillation depends on three system parameters that can be adjusted. These oscillatory output pressures enable several applications, including undulating and rolling motions in soft robots, size-based particle separation, pneumatic mechanotherapy, and metering of fluids. The soft ring oscillator eliminates the need for hard valves and electronic controls in these applications.

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Sponsoring Organization:: USDOE

OSTI ID:: 1529671

Journal Information:: Science Robotics, Journal Name: Science Robotics Journal Issue: 31 Vol. 4; ISSN 2470-9476

Publisher:: American Association for the Advancement of Science (AAAS)Copyright Statement

Country of Publication:: United States

Language:: English

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