A leading concept in soft robotics actuation, as well as in microfluidics applications such as valves in lab-on-a-chip devices, is applying pressurized flow in cavities embedded within elastic bodies. Generating complex deformation patterns typically requires control of several inputs, which greatly complicates the system's operation. In this study, we present a novel method for single-input control of a serial chain of bistable elastic chambers connected by thin tubes. Controlling a single flow rate at the chain's inlet, we induce an irreversible sequence of transitions that can reach any desired state combination of all bistable elements. Mathematical formulation and analysis of the system's dynamics reveal that these transitions are enabled, thanks to bistability combined with pressure lag induced by viscous resistance. The results are demonstrated through numerical simulations combined with experiments for chains of up to five chambers, using water-diluted glycerol as the injected fluid. The proposed technique has a promising potential for development of sophisticated soft actuators with minimalistic control.

中文翻译：

---

通过双稳态和粘度之间的相互作用对多个流体驱动的弹性执行器进行单输入控制

在软机器人驱动以及微流体应用（例如芯片实验室设备中的阀）中，一个领先的概念是在嵌入弹性体内的空腔中施加加压流。生成复杂的变形模式通常需要控制多个输入，这使系统的操作大大复杂化。在这项研究中，我们提出了一种新的方法来对双稳态串行链进行单输入控制细管连接的弹性腔。通过控制链条入口处的单个流速，我们可以诱导出一系列不可逆转的转变，这些转变可以达到所有双稳态元素的任何所需状态组合。对系统动力学的数学表述和分析表明，由于双稳态和粘滞阻力引起的压力滞后，因此可以实现这些转换。通过使用水稀释的甘油作为注入液，通过数值模拟和多达五个室的链的实验相结合，证明了结果。所提出的技术具有开发具有最小控制的精密软致动器的潜力。