A soft, self-sensing tensile valve for perceptive soft robots

Jun Kyu Choe, Junsoo Kim, Hyeonseo Song, Joonbum Bae () and Jiyun Kim ()
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Jun Kyu Choe: Ulsan National Institute of Science and Technology (UNIST)
Junsoo Kim: Ulsan National Institute of Science and Technology (UNIST)
Hyeonseo Song: Ulsan National Institute of Science and Technology (UNIST)
Joonbum Bae: Ulsan National Institute of Science and Technology (UNIST)
Jiyun Kim: Ulsan National Institute of Science and Technology (UNIST)

Nature Communications, 2023, vol. 14, issue 1, 1-10

Abstract: Abstract Soft inflatable robots are a promising paradigm for applications that benefit from their inherent safety and adaptability. However, for perception, complex connections of rigid electronics both in hardware and software remain the mainstay. Although recent efforts have created soft analogs of individual rigid components, the integration of sensing and control systems is challenging to achieve without compromising the complete softness, form factor, or capabilities. Here, we report a soft self-sensing tensile valve that integrates the functional capabilities of sensors and control valves to directly transform applied tensile strain into distinctive steady-state output pressure states using only a single, constant pressure source. By harnessing a unique mechanism, “helical pinching”, we derive physical sharing of both sensing and control valve structures, achieving all-in-one integration in a compact form factor. We demonstrate programmability and applicability of our platform, illustrating a pathway towards fully soft, electronics-free, untethered, and autonomous robotic systems.

Date: 2023
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DOI: 10.1038/s41467-023-39691-z

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