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research article

A Plug-and-Play Pneumatic Supply System

Froessel, Charles Y.
•
Aebi, Max A.
•
Demirtas, Serhat  
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May 23, 2025
IEEE Robotics and Automation Letters

Soft robots utilize pneumatic actuation due to its high power density, ability to undergo large deformations, large force outputs, and compliance, which enables safe and flexible interactions between the robots and their environments. High frequency actuation holds the potential to enhance the interaction and motion capabilities of these robots by enabling vibration-induced characteristics. However, existing pneumatic supply systems (PSSs) often fail to deliver actuation in the high frequency range with sufficient displacement and force. In this letter, we present a plug-and-play PSS that supports continuous, low frequency, and high frequency pressure profiles up to 300 Hz. We validate the PSS with a wide range of control volumes and various soft pneumatic actuators (SPAs), demonstrating its ability to adapt to different scales as well as motion and deformation strategies. This advancement paves the way for enabling new functionalities for soft robots, including vibration-based motion primitives and enhanced user experiences in wearable technologies.

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Type
research article
DOI
10.1109/LRA.2025.3573174
Author(s)
Froessel, Charles Y.
Aebi, Max A.
Demirtas, Serhat  

EPFL

Paik, Jamie  

EPFL

Date Issued

2025-05-23

Publisher

Institute of Electrical and Electronics Engineers (IEEE)

Published in
IEEE Robotics and Automation Letters
Start page

1

End page

8

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
RRL  
FunderFunding(s)Grant NumberGrant URL

European Union’s Horizon Europe research and innovation programme

101069536

Available on Infoscience
May 26, 2025
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/250564
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