Elastic Fiber Programming for Simplified Pneumatic Control in Soft Robots

Abstract

Conventional pneumatic soft robots require complex control systems with multiple valves and circuits due to coupled structural and pneumatic dynamics. A strategy is presented to program the pneumatic response characteristics of soft actuators by embedding elastic fibers with tailored materials and pre-stretch ratios, enabling structurally identical modules to exhibit distinct pressure-driven responses. A 6 mm-diameter actuator prototype demonstrates this paradigm, achieving a 2632% load ratio and 225°/s bending speed at a material cost of 9 cents. Crucially, a single pneumatic input suffices for multi-step actuation-shown in pipeline-climbing robots, omnidirectional crawlers, and grippers adapting to objects from 10 to 450 g. This fusion of material programming and mechanical intelligence simplifies control architectures while enhancing functionality, offering a scalable path toward deployable soft robotics.