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.
@article{arxiv.2407.05961,
title = {Dynamic single-input control of multi-state multi-transition soft robotic actuator},
author = {Geron Yamit and Ben-Haim Eran and Gat D. Amir and Or Yizhar and Givli Sefi},
journal= {arXiv preprint arXiv:2407.05961},
year = {2024}
}