Dynamic single-input control of multi-state multi-transition soft robotic actuator
<|reference_start|>Dynamic single-input control of multi-state multi-transition soft robotic actuator: Soft robotics is an attractive and rapidly emerging field, in which actuation is coupled with the elastic response of the robot's structure to achieve complex deformation patterns. A crucial challenge is the need for multiple control inputs, which adds significant complication to the system. We propose a novel concept of single-input control of an actuator composed of interconnected bi-stable elements. Dynamic response of the actuator and pre-designed differences between the elements are exploited to facilitate any desired multi-state transition, using a single dynamic input. We show formulation and analysis of the control system's dynamics and pre-design of its multiple equilibrium states, as well as their stability. Then we fabricate and demonstrate experimentally on single-input control of two- and four-element actuators, where the latter can achieve transitions between up to 48 desired states. Our work paves the way for next-generation soft robotic actuators with minimal actuation and maximal dexterity.<|reference_end|>
@article{yamit2024dynamic,
    title={Dynamic single-input control of multi-state multi-transition soft
  robotic actuator},
    author={Geron Yamit, Ben-Haim Eran, Gat D. Amir, Or Yizhar, Givli Sefi},
    journal={arXiv preprint arXiv:2407.05961},
    year={2024},
    archivePrefix={arXiv},
    eprint={2407.05961},
    primaryClass={cs.RO physics.app-ph}
}