Scaling of pneumatic digital logic circuits

Duncan, Philip N.; Ahrar, Siavash; Hui, Elliot E.

doi:10.1039/c4lc01048e

Cited by 41 publications

(48 citation statements)

References 11 publications

(30 reference statements)

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“…2017, 2, 1600188 www.advmattechnol.de www.advancedsciencenews.com TARGE169 and CONTA171 were used. No rough cutting for planarizing purposes was necessary as seen in other work; [30] the stock Figure 7. Preliminary simulations showed that the smallest gap between the pillar and pads enabled the highest contact area.…”

Section: Methodsmentioning

confidence: 99%

“…NC instructions were coded in Tool Path Language, and generated using CAMotics 1.0.0. No rough cutting for planarizing purposes was necessary as seen in other work; [30] the stock Technol. 2017, 2, 1600188 www.advmattechnol.de www.advancedsciencenews.com was sufficiently planar as received.…”

Section: Methodsmentioning

confidence: 99%

“…Computerized numerical control (CNC) milling and micromachining has been widely used to fabricate lab-on-a-chip devices, [26,27] PDMS microstructures and adhesives, [28,29] and even pneumatic logic circuits. [30] In this work, a milling process to cast a conductive elastomer, carbon nanotube (CNT)/PDMS, was developed to achieve microscale features over a large area, Figure 3. This was preferred to clean room fabrication from prior work due to the larger available workspace and significantly reduced time and cost required for fabrication.…”

Section: Doi: 101002/admt201600188mentioning

confidence: 99%

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Rapid Manufacturing of Mechanoreceptive Skins for Slip Detection in Robotic Grasping

Charalambides

Bergbreiter

2016

Adv Materials Technologies

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results in laborious and complicated multilayer assembly with sub-Newton force ranges. [12] MEMS manufacturing also limits the sensing area to that of a silicon wafer. [13] Other tactile sensors which have large sensing areas have been limited to normal force sensing only, [14,15] or have had limited flexibility. [16] Microfluidic eutectic indium gallium tactile sensors have achieved remarkable flexibility but are potentially hazardous if ruptured. [17] Therefore, there is a need for a flexible, large area tactile sensor array capable of shear force sensing in addition to normal force sensing.The transduction method also plays an important role in the design and performance of tactile sensors. Flexible tactile sensor arrays typically utilize parallel-plate style capacitors, [18] or resistive serpentines or strips to detect applied loads. [19] Elastomer-based piezoresistive sensors tend to suffer from electromechanical hysteresis, [20,21] while capacitive sensors require significant efforts in shielding. [11,22] Thus, an alternate sensing modality was needed to be more practical in the field.In this work, two transduction methods (contact resistance and capacitive) were explored, Figure 1. A contact resistance sensing technique is proposed to simplify electronics, avoid the need for capacitive shielding, and minimize electromechanical hysteresis at the expense of DR. Two conductive features, referred to as the "pillar" and "pad", come into physical contact as loads are applied. As a normal force is applied, the pillar and pads flatten and expand through the Poisson effect, and come into contact causing a uniform decrease in contact resistance on each side. Meanwhile, a shear force results in a differential contact resistance; contact resistance decreases in the direction of shear and increases on the opposite side.In the capacitive sensing approach, the sensor is encapsulated with a dielectric to form a capacitor between the pillar and pad. As a normal force is applied, the sensor flattens and expands through the Poisson effect, the capacitor gap increases, and the capacitance decreases on each side uniformly. Meanwhile, a shear force results in an increase in capacitance in the direction of loading, and a decrease in capacitance on the opposite side. Capacitive transduction was explored by the authors in previous work, but was revisited since taller features enabled by the manufacturing process presented in this paper can improve sensor sensitivity over prior work. [11] However, the capacitive shielding required to make these sensors useful in a wide range of applications was not a focus of this work.In order to achieve a flexible sensing skin, soft elastomers were the preferred material of choice. [2] Elastomers, such as polydimethylsiloxane (PDMS), are especially favorable for these architectures since they are incompressible (Poisson's ratio near 0.5), which maximizes lateral expansion under normal deformation. The contact resistance approach differs from previous contact resistance work in that the sensor cir...

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Section: Methodsmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

Section: Doi: 101002/admt201600188mentioning

confidence: 99%

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Rapid Manufacturing of Mechanoreceptive Skins for Slip Detection in Robotic Grasping

Charalambides

Bergbreiter

2016

Adv Materials Technologies

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“…Duncan et al used precision machining techniques to build a variety of digital logic circuits using fluidics [20]. The used a computer numerically controlled (CNC) machine to make normally closed pneumatic membrane valves from Grover and Jensen [13], [21] and demonstrated an operating T flipflop.…”

Section: A Literaturementioning

confidence: 99%

Soft Robots for Extreme Environments: Removing Electronic Control

Mahon

Buchoux

Sayed

et al. 2019

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)

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The ignition of flammable liquids and gases in offshore oil and gas environments is a major risk and can cause loss of life, serious injury, and significant damage to infrastructure. Power supplies that are used to provide regulated voltages to drive motors, relays, and power electronic controls can produce heat and cause sparks. As a result, the European Union requires ATEX certification on electrical equipment to ensure safety in such extreme environments. Implementing designs that meet this standard is time-consuming and adds to the cost of operations. Soft robots are often made with soft materials and can be actuated pneumatically, without electronics, making these systems inherently compliant with this directive. In this paper, we aim to increase the capability of new soft robotic systems moving from a one-to-one control-actuator architecture and implementing an electronics-free control system. We have developed a robot that demonstrates locomotion and gripping using three-pneumatic lines: a vacuum power line, a control input, and a clock line. We have followed the design principles of digital electronics and demonstrated an integrated fluidic circuit with eleven, fully integrated fluidic switches and six actuators. We have realized the basic building blocks of logical operation into combinational logic and memory using our fluidic switches to create a two-state automata machine. This system expands on the state of the art increasing the complexity over existing soft systems with integrated control. Figure 1. An integrated and logically controlled soft robot. (a) The soft robot controls six actuators connected to the legs, colored orange and blue. The controller circuit is designed to engage the orange actuators and the blue actuator sequentially. (b) The fluidic architecture shows a JK flip-flop. The circuit has three inputs including a vacuum power line, a clock line, and a control input, with six outputs to vacuum actuators from Q and Q ̅ .

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“…This mixture was then degassed in a vacuum desiccator. Additional bonding strength was achieved through the use of office binder clips 28 . The via on the control layer, shown in Figure 3, is accessed through holes punched in the PDMS membrane.…”

Section: Microfluidic Materials and Assemblymentioning

confidence: 99%

A reconfigurable continuous-flow fluidic routing fabric using a modular, scalable primitive

2016

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Microfluidic devices, by definition, are required to move liquids from one physical location to another. Given a finite and frequently fixed set of physical channels to route fluids, a primitive design element that allows reconfigurable routing of that fluid from any of n input ports to any n output ports will dramatically change the paradigms by which these chips are designed and applied. Furthermore, if these elements are "regular" regarding their design, the programming and fabrication of these elements becomes scalable. This paper presents such a design element called a transposer. We illustrate the design, fabrication and operation of a single transposer. We then scale this design to create a programmable fabric towards a general-purpose, reconfigurable microfluidic platform analogous to the Field Programmable Gate Array (FPGA) found in digital electronics.

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Scaling of pneumatic digital logic circuits

Cited by 41 publications

References 11 publications

Rapid Manufacturing of Mechanoreceptive Skins for Slip Detection in Robotic Grasping

Rapid Manufacturing of Mechanoreceptive Skins for Slip Detection in Robotic Grasping

Soft Robots for Extreme Environments: Removing Electronic Control

A reconfigurable continuous-flow fluidic routing fabric using a modular, scalable primitive

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