Year: 2025
Type: article
Abstract: This study develops a robust pneumatic control system for soft robots that require multi-cavity coordination. It proposes an FPGA-based hybrid valve pneumatic system (HVPS) with networked control and multi-mode pressure regulation to enhance performance in complex tasks. The system integrates a hybrid valve unit (a negative-pressure proportional valve + solenoid valves) to support four pressure regulation modes, implements an FPGA-based PWM/DAC control for scalability, and utilizes EtherCAT (Ethernet for Control Automation Technology) for real-time networked synchronization. The experimental results demonstrate that the HVPS can achieve variable-frequency PWM (VF-PPRM) and variable-duty-ratio PWM (VDR-PPRM), controlling a Multi-Layer Soft Sponge Robot (ML-SSR) to perform better crawling behaviors at frequencies ranging from 0.2 Hz to 0.33 Hz and duty ratios ranging from 30% to 50%. ML-SSRs could perform manipulation and synchronization following behavior using a closed-loop proportional regulation module (CPRM) and networked connection, with the mean square errors (MSEs) of 0.85 around the X-axis and 1.03 around the Y-axis. This work uniquely integrates FPGA-based hybrid valve control with EtherCAT networking, introduces multi-mode pressure regulation within a single pneumatic unit, and offers a scalable architecture for soft robotic systems, thereby enhancing the flexibility and performance of pneumatic control.
Source: Applied Sciences
DOI: 10.3390/app152312373
Authors: Haiming Huang, Xujing Li, Yage Fan, Yang Liu, Linru Zhan
Institution: Shenzhen University
Language: English
Subfield: Biomedical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,896
Awards: G1547842959, G3532614217, G3787011695
OpenAlex ID: W4416501240