用气压控制的柔性晶体管实现软机器人流体逻辑运算
Soft Fluidic Sheet Transistor for Soft Robotic System Enabling Fluid Logic Operations
- 用气压信号控制柔性薄膜阀，实现类似晶体管的开关机制
- 单片集成可实现NOT、NAND、NOR等逻辑门，支持自持锁存电路
- 无需电子元件，仅靠气压即可让机器人遇障碍自动调整姿态
为实现软机器人系统中高功能与柔性的统一，本文提出一种类尿烷薄膜阀门结构，内置放大器，仅通过气压信号即可实现逻辑运算。当控制腔加压时，主通道沿轴向压缩，发生屈曲并被压闭，从而实现以低于主通道压力的信号进行控制。该结构类似于电学中的晶体管，多个单元组合后可在单一柔性薄片上实现正逻辑、NAND、NOR等逻辑操作。本文阐述了流体片晶体管（FST）的工作原理、制备方法及特性，并提出逻辑配置方法。进一步演示了基于FST构建锁存电路（自持逻辑电路），结合触觉管作为流体传感器和流体执行器，实现仅通过单一气源管道输入，即可在撞击障碍物时主动改变姿态的行为，验证了所提方法的有效性。
原文摘要 · Abstract (English)
Aiming to achieve both high functionality and flexibility in soft robot system, this paper presents a soft urethane sheet-like valve with an amplifier that can perform logical operations using only pneumatic signals. When the control chamber in the valve is pressurized, the main path is compressed along its central axis, buckling and being pressed,resulting in blockage. This allows control by a pressure signal smaller than that within the main channel. Furthermore, similar to transistors in electrical circuits, when combined, the proposed valve can perform a variety of logical operations. The basic type operates as a NOT logic element, which is named the fluidic sheet transistor (FST). By integrating multiple FSTs, logical operations such as positive logic, NAND, and NOR can be performed on a single sheet. This paper describes the operating principle, fabrication method, and characteristics of the FST,followed by a method for configuring logical operations.Moreover, we demonstrate the construction of a latch circuit(self-holding logic circuit) using FST, introducing a prototype of a fluid robot system that combines a tactile tube as a fluidic detector and fluid actuators. This demonstrates that it is possible to generate behavior that actively changes posture when hitting an obstacle using only air pressure from a single pipe, which verifies the effectiveness of the proposed methods.
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