A fluidic relaxation oscillator for reprogrammable sequential actuation in soft robots

This dataset contains data and code to replicate main and supplemental figures for the related article published in Matter:

Title: A fluidic relaxation oscillator for reprogrammable sequential actuation in soft robots

DOI: 10.1016/j.matt.2022.06.002

In the article we introduce a simple and compact soft valve with intentional hysteresis, analogous to an electronic relaxation oscillator. By integrating the valve with a soft actuator, we transform a continuous inflow to cyclic activation. Importantly, we show that our circuits can activate up to five actuators in various sequences, and that we can physically reprogram the activation order by varying the (initial) conditions in the fluidic circuit. Moreover, we show the feasibility of our approach under more realistic conditions by building a four-legged robot.

This dataset contains measurement data and simulation files.

The data are recorded (in human-readable format) from experiments on our fluidic circuits (e.g., pressure, flow data), and are accompanied by MATLAB scripts for data processing as well as generating figures.

The simulation files are MATLAB and LTspice files for simulating our fluidic circuits making use of the analogy with electronic circuits. For more involved parameter sweeps we generate, run, and post-process LTspice input and result files using MATLAB. More details and instruction for use are provided in the included readme.txt files.