OpenPneu: Compact Platform for Pneumatic Actuation with Multi-Channels

摘要

This paper introduces OpenPneu, a compact system designed to facilitate pneumatic actuation for multi-chamber soft robots. In this system, micro-pumps are utilized to generate airflow, eliminating the need for additional compressed air input. OpenPneu is characterized by its modular design, allowing for excellent scalability, as evidenced by a ten-channel prototype. Each air channel in OpenPneu is equipped with both inflation and deflation capabilities, enabling a wide range of pressure supply from positive to negative, with a maximum flow rate of 1.7 L/min. The system incorporates high-precision closed-loop pressure control, ensuring stable and efficient dynamic performance during actuation. Additionally, an open-source control interface and Python-based API are provided. The functionality of OpenPneu is demonstrated through its application in three different soft robotic systems, involving up to 10 chambers.