Data from: 3D printed digital pneumatic logic for the control of soft robotic actuators

Soft robots are paving their way to catch up with the application range of
metal-based machines and to occupy fields which are challenging for
traditional machines. Pneumatic actuators play an important role in this
development, allowing the construction of bioinspired motion systems.
Pneumatic logic gates provide a powerful alternative for controlling
pressure-activated soft robots, which are often controlled by metallic
valves and electric circuits. Many existing approaches for fully compliant
pneumatic control logic suffer from high manual effort and low pressure
tolerance. In our work, we invented 3D printable, pneumatic logic gates
that perform Boolean operations and imitate electric circuits. Within 7
hours, an FDM printer is able to produce a module that serves as either an
OR, AND or NOT gate; the logic function is defined by the assigned input
signals. The gate contains two alternately acting pneumatic valves, whose
work principle is based on the interaction of pressurized chambers and a
3D printed 1 mm tube inside. The gate design does not require any kind of
support material for its hollow parts, which makes the modules ready to
use directly after printing. Depending on the chosen material, the modules
can operate on a pressure supply between 80 and over 750 kPa. The
capabilities of the invented gates were verified by implementing an
electronics-free drink dispenser based on a pneumatic ring oscillator and
a 1-bit memory. Their high compliance is demonstrated by driving a car
over a fully flexible, 3D printed robotic walker controlled by an
integrated circuit.