A soft ring oscillator
Abstract
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.
- Publication Date:
- Sponsoring Org.:
- USDOE
- OSTI Identifier:
- 1529671
- Grant/Contract Number:
- ER45852; GEM Fellowship
- Resource Type:
- Published Article
- Journal Name:
- Science Robotics
- Additional Journal Information:
- Journal Name: Science Robotics Journal Volume: 4 Journal Issue: 31; Journal ID: ISSN 2470-9476
- Publisher:
- American Association for the Advancement of Science (AAAS)
- Country of Publication:
- United States
- Language:
- English
Citation Formats
Preston, Daniel J., Jiang, Haihui Joy, Sanchez, Vanessa, Rothemund, Philipp, Rawson, Jeff, Nemitz, Markus P., Lee, Won-Kyu, Suo, Zhigang, Walsh, Conor J., and Whitesides, George M.. A soft ring oscillator. United States: N. p., 2019.
Web. doi:10.1126/scirobotics.aaw5496.
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.. A soft ring oscillator. United States. https://doi.org/10.1126/scirobotics.aaw5496
Preston, Daniel J., Jiang, Haihui Joy, Sanchez, Vanessa, Rothemund, Philipp, Rawson, Jeff, Nemitz, Markus P., Lee, Won-Kyu, Suo, Zhigang, Walsh, Conor J., and Whitesides, George M.. Wed .
"A soft ring oscillator". United States. https://doi.org/10.1126/scirobotics.aaw5496.
@article{osti_1529671,
title = {A soft ring oscillator},
author = {Preston, Daniel J. and Jiang, Haihui Joy and Sanchez, Vanessa and Rothemund, Philipp and Rawson, Jeff and Nemitz, Markus P. and Lee, Won-Kyu and Suo, Zhigang and Walsh, Conor J. and Whitesides, George M.},
abstractNote = {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.},
doi = {10.1126/scirobotics.aaw5496},
journal = {Science Robotics},
number = 31,
volume = 4,
place = {United States},
year = {2019},
month = {6}
}
Free Publicly Available Full Text
Publisher's Version of Record
https://doi.org/10.1126/scirobotics.aaw5496
https://doi.org/10.1126/scirobotics.aaw5496
Other availability
Search WorldCat to find libraries that may hold this journal
Cited by: 78 works
Citation information provided by
Web of Science
Web of Science
Save to My Library
You must Sign In or Create an Account in order to save documents to your library.
Works referenced in this record:
Medically-inspired approaches for the analysis of soft-robotic motion control
conference, April 2016
- Dirven, Steven; Stommel, Martin; Hashem, Ryman
- 2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)
Dynamics of snapping beams and jumping poppers
journal, January 2014
- Pandey, A.; Moulton, D. E.; Vella, D.
- EPL (Europhysics Letters), Vol. 105, Issue 2
A soft, bistable valve for autonomous control of soft actuators
journal, March 2018
- Rothemund, Philipp; Ainla, Alar; Belding, Lee
- Science Robotics, Vol. 3, Issue 16
Micropneumatic Digital Logic Structures for Integrated Microdevice Computation and Control
journal, December 2007
- Jensen, Erik C.; Grover, William H.; Mathies, Richard A.
- Journal of Microelectromechanical Systems, Vol. 16, Issue 6
Pneumatic Networks for Soft Robotics that Actuate Rapidly
journal, January 2014
- Mosadegh, Bobak; Polygerinos, Panagiotis; Keplinger, Christoph
- Advanced Functional Materials, Vol. 24, Issue 15, p. 2163-2170
Scaling of pneumatic digital logic circuits
journal, January 2015
- Duncan, Philip N.; Ahrar, Siavash; Hui, Elliot E.
- Lab on a Chip, Vol. 15, Issue 5
A pneumatically-actuated three-way microvalve fabricated with polydimethylsiloxane using the membrane transfer technique
journal, July 2000
- Hosokawa, Kazuo; Maeda, Ryutaro
- Journal of Micromechanics and Microengineering, Vol. 10, Issue 3
Towards flexible medical instruments: Review of flexible fluidic actuators
journal, October 2009
- De Greef, Aline; Lambert, Pierre; Delchambre, Alain
- Precision Engineering, Vol. 33, Issue 4
Buckling Pneumatic Linear Actuators Inspired by Muscle
journal, June 2016
- Yang, Dian; Verma, Mohit S.; So, Ju-Hee
- Advanced Materials Technologies, Vol. 1, Issue 3
Continuous flow separations in microfluidic devices
journal, January 2007
- Pamme, Nicole
- Lab on a Chip, Vol. 7, Issue 12, p. 1644-1659
Soft robot actuators using energy-efficient valves controlled by electropermanent magnets
conference, September 2011
- Marchese, Andrew D.; Onal, Cagdas D.; Rus, Daniela
- 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Logic digital fluidic in miniaturized functional devices: Perspective to the next generation of microfluidic lab-on-chips: Microfluidics and Miniaturization
journal, February 2017
- Zhang, Qiongdi; Zhang, Ming; Djeghlaf, Lyas
- ELECTROPHORESIS, Vol. 38, Issue 7
Pneumatic oscillator circuits for timing and control of integrated microfluidics
journal, October 2013
- Duncan, P. N.; Nguyen, T. V.; Hui, E. E.
- Proceedings of the National Academy of Sciences, Vol. 110, Issue 45
Digital logic for soft devices
journal, March 2019
- Preston, Daniel J.; Rothemund, Philipp; Jiang, Haihui Joy
- Proceedings of the National Academy of Sciences, Vol. 116, Issue 16
Soft Error Masking Circuit and Latch Using Schmitt Trigger Circuit
conference, December 2006
- Sasaki, Yoichi; Namba, Kazuteru; Ito, Hideo
- 2006 21st IEEE International Symposium on Defect and Fault Tolerance in VLSI Systems
Rotary Actuators Based on Pneumatically Driven Elastomeric Structures
journal, June 2016
- Gong, Xiangyu; Yang, Ke; Xie, Jingjin
- Advanced Materials, Vol. 28, Issue 34
Evidence-Based Compression: Prevention of Stasis and Deep Vein Thrombosis
journal, January 2004
- Morris, Rhys J.; Woodcock, John P.
- Annals of Surgery, Vol. 239, Issue 2
An integrated design and fabrication strategy for entirely soft, autonomous robots
journal, August 2016
- Wehner, Michael; Truby, Ryan L.; Fitzgerald, Daniel J.
- Nature, Vol. 536, Issue 7617
Soft Robotics
journal, March 2018
- Whitesides, George M.
- Angewandte Chemie International Edition, Vol. 57, Issue 16
Control of soft machines using actuators operated by a Braille display
journal, January 2014
- Mosadegh, Bobak; Mazzeo, Aaron D.; Shepherd, Robert F.
- Lab Chip, Vol. 14, Issue 1
Soft Autonomous Materials—Using Active Elasticity and Embedded Distributed Computation
book, January 2014
- Correll, Nikolaus; Önal, Çağdaş D.; Liang, Haiyi
- Experimental Robotics, p. 227-240
Integrated elastomeric components for autonomous regulation of sequential and oscillatory flow switching in microfluidic devices
journal, April 2010
- Mosadegh, Bobak; Kuo, Chuan-Hsien; Tung, Yi-Chung
- Nature Physics, Vol. 6, Issue 6
Soft Robotics: Review of Fluid-Driven Intrinsically Soft Devices; Manufacturing, Sensing, Control, and Applications in Human-Robot Interaction : Review of Fluid-Driven Intrinsically Soft Robots
journal, May 2017
- Polygerinos, Panagiotis; Correll, Nikolaus; Morin, Stephen A.
- Advanced Engineering Materials, Vol. 19, Issue 12
Soft Dielectric Elastomer Oscillators Driving Bioinspired Robots
journal, December 2017
- Henke, E. -F. Markus; Schlatter, Samuel; Anderson, Iain A.
- Soft Robotics, Vol. 4, Issue 4
Design, fabrication and control of soft robots
journal, May 2015
- Rus, Daniela; Tolley, Michael T.
- Nature, Vol. 521, Issue 7553
Force Control of Textile-Based Soft Wearable Robots for Mechanotherapy
conference, May 2018
- Payne, Christopher J.; Hevia, Elizabeth Gallardo; Phipps, Nathan
- 2018 IEEE International Conference on Robotics and Automation (ICRA)
Cyclic hydraulic actuation for soft robotic devices
conference, October 2016
- Katzschmann, Robert K.; Maille, Austin de; Dorhout, David L.
- 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Design and Characterization of a Peristaltic Actuator Inspired by Esophageal Swallowing
journal, August 2014
- Dirven, Steven; Chen, Feijiao; Xu, Weiliang
- IEEE/ASME Transactions on Mechatronics, Vol. 19, Issue 4
A Resilient, Untethered Soft Robot
journal, September 2014
- Tolley, Michael T.; Shepherd, Robert F.; Mosadegh, Bobak
- Soft Robotics, Vol. 1, Issue 3
An Artificial Muscle Ring Oscillator
journal, February 2012
- O'Brien, Benjamin Marc; Anderson, Iain Alexander
- IEEE/ASME Transactions on Mechatronics, Vol. 17, Issue 1
Harnessing Viscous Flow to Simplify the Actuation of Fluidic Soft Robots
journal, May 2019
- Vasios, Nikolaos; Gross, Andrew J.; Soifer, Scott
- Soft Robotics
Semi-autonomous liquid handling via on-chip pneumatic digital logic
journal, January 2012
- Nguyen, Transon V.; Duncan, Philip N.; Ahrar, Siavash
- Lab on a Chip, Vol. 12, Issue 20
Monolithic Microfabricated Valves and Pumps by Multilayer Soft Lithography
journal, April 2000
- Unger, M. A.
- Science, Vol. 288, Issue 5463
Using Explosions to Power a Soft Robot
journal, February 2013
- Shepherd, Robert F.; Stokes, Adam A.; Freake, Jacob
- Angewandte Chemie International Edition, Vol. 52, Issue 10
Hardware Sequencing of Inflatable Nonlinear Actuators for Autonomous Soft Robots
journal, September 2018
- Gorissen, Benjamin; Milana, Edoardo; Baeyens, Arne
- Advanced Materials, Vol. 31, Issue 3