FlowIO Development Platform – the Pneumatic “Raspberry Pi” for Soft Robotics

Shtarbanov, Ali

doi:10.1145/3411763.3451513

Cited by 41 publications

(21 citation statements)

References 6 publications

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“…the following works: tactile cues with fingertip-mounted actuators [5,16,32], haptic armbands [11,23,28], soft buttons with pneumotactile feedback [8,35], a haptic jacket [3], physical touch to augment phone calls [25], headmounted tactile actuators for VR-interactions [10], and others. This overview is kept short for brevity, a variety [1] of further notable research in this area exists [9,14,21,31,35,[38][39][40] and updated overviews are provided in [2,29]. Various methods for the fabrication of robust textile pneumatic air-chambers have also been proposed [7,16,22,30,33].…”

Section: Related Workmentioning

confidence: 99%

“…A closed-loop, valve-less control system using a stepper motor (Figure 5, top left) to modulate air pressure, 2.) a three-channel pneumatic circuit (Figure 5, right), similar to the architectures outlined in [8,31], that uses industrial solenoid valves 5 connected to a battery powered pneumatic compressor and air pressure sensors 6 in a closed-loop configuration with mechanically adjustable flow-rates per channel, and 3.) a minimal open-loop control system (Figure 5, bottom left) without air-pressure sensors, that consists of a single miniaturized air-pump (similar to those found in personal blood-pressure monitors 7 ) and a single low-cost solenoid valve for pressure release.…”

Section: Explored Control System Architecturesmentioning

confidence: 99%

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AirPinch – An Inflatable Touch Fader with Pneumatic Tactile Feedback

Gohlke

Sattler

Hornecker

2022

Sixteenth International Conference on Tangible, Embedded, and Embodied Interaction

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This paper gives an overview of our work-in-progress prototype of a textile-pneumatic force-feedback system that augments the user-interaction on touch-sensor strips with interactive tactile cues. Air-pressure inside a shape-changing textile actuator is dynamically modulated, to create a perceivable pinch-like impression at the user's fingertip. This dynamic pneumotactile pinch can be leveraged as a tangible output modality for interaction design. The soft actuators are driven by a pneumatic control system that adjusts the pneumatic pressure in response to the finger position. We have explored different textile air-chamber layouts to achieve tactile feedback and provide a preliminary discussion of their tactile capabilities and design patterns. We further give a brief overview of three different pneumatic control system architectures and their underlying tactile pressure profiles used to operate the actuators to create different types of tactile sensations. A preliminary discussion of the capabilities, challenges, and limitations of our system is also provided.

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Section: Related Workmentioning

confidence: 99%

Section: Explored Control System Architecturesmentioning

confidence: 99%

AirPinch – An Inflatable Touch Fader with Pneumatic Tactile Feedback

Gohlke

Sattler

Hornecker

2022

Sixteenth International Conference on Tangible, Embedded, and Embodied Interaction

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“…In the work of Wang et al (2019a), a pneumatic model was used to control the bending angle of a pneumatic network actuator using a robust backstepping controller with two-way, two-position on/ off valves. Sliding mode controllers are proposed by Ibrahim et al (2019;2021) to control the pressure of a soft actuator using proportional valves. In the work of Chen et al (2020), a pneumatic model is included to control the bending angle of a fiber-reinforced actuator using two three-way, two-position on/ off valves with a backstepping-based adaptive robust controller and sliding mode controller.…”

Section: Introductionmentioning

confidence: 99%

“…Pressure can also be controlled using pressure regulators; however, this allows only one pressure in the whole system. Recently, a number of other open-source pneumatic drivers have also been proposed such as FlowIO ( Shtarbanov, 2021 ), Pneuduino ( Ou et al, 2016 ), and PneuSoRD ( Young et al, 2021 ).…”

Section: Introductionmentioning

confidence: 99%

Model-Based Nonlinear Feedback Controllers for Pressure Control of Soft Pneumatic Actuators Using On/Off Valves

2022

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This article describes the application and comparison of three nonlinear feedback controllers for low-level control of soft actuators driven by a pressure source and single high-speed on/off solenoid valve. First, a mathematical model of the pneumatic system is established and the limitations of the open-loop system are evaluated. Next, a model of the pneumatic system is developed using Simscape Fluids to evaluate the performance of various control strategies. In this article, State-Dependent Riccati Equation control, sliding mode control, and feedback linearization are considered. To improve robustness to model uncertainties, the sliding mode and feedback linearization control strategies are augmented with integral action. The model of the pneumatic system is also used to develop a feedforward component, which is added to a PI controller with anti-windup. The simulation and experimental results demonstrate the effectiveness of the proposed controllers for pressure tracking.

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“…This layer-driven design integrates well with the type of composite transducers that have taken hold within the soft robotics community [2], providing a scalable bed of actuators that can replace networks of individually connected tubes. Such a system may be well-suited for the production of room-scale pneumatic surfaces [59,61], which, like current toolkits [22,37,53], have so far relied on a modular approach. Composite arrays such as Stoma-Board, which simplify manufacturing through the use of bulk-fabricated layers, may bring large-scale structures and high-resolution surfaces within reach.…”

Section: Introductionmentioning

confidence: 99%

Layer by Layer, Patterned Valves Enable Programmable Soft Surfaces

Gonzalez

Hudson

2022

Proc. ACM Interact. Mob. Wearable Ubiquitous Technol.

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Programmable surfaces, which can be instructed to alter their shape or texture, may one day serve as a platform for tangible interfaces and adaptive environments. But so far, these structures have been constrained in scale by a challenging fabrication process, as the numerous constituent actuators must be built and assembled individually. We look towards emerging trends in mechanical engineering and consider an alternate framework --- layer-driven design, which enables the production of dynamic, discretely-actuated surfaces at multiple scales. By centering the construction around patterning and stacking, forgoing individual assembly in favor of bulk processes such as photo-etching and laser cutting, we avoid the need for multiple manufacturing steps that are repeated for each of the many actuators that compose the surface. As an instance of this layer-driven model, we build an array of electrostatic valves, and use this composite material (which we refer to as Stoma-Board) to drive four types of pneumatic transducers. We also show how this technique may be readily industrialized, through integration with the highly mature and automated manufacturing processes of modern electronics.

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FlowIO Development Platform – the Pneumatic “Raspberry Pi” for Soft Robotics

Cited by 41 publications

References 6 publications

AirPinch – An Inflatable Touch Fader with Pneumatic Tactile Feedback

AirPinch – An Inflatable Touch Fader with Pneumatic Tactile Feedback

Model-Based Nonlinear Feedback Controllers for Pressure Control of Soft Pneumatic Actuators Using On/Off Valves

Layer by Layer, Patterned Valves Enable Programmable Soft Surfaces

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