Soft actuators using pressurized air are being widely used due to their inherent compliance, conformability, and customizability. These actuators are powered and controlled by pneumatic supply systems (PSSs) consisting of components such as compressors, valves, tubing, and reservoirs. Regardless of the choice of actuator, the PSS critically affects overall performance of soft robots because it governs the soft actuator pressure dynamics, and thereby, the general dynamic behavior. While selecting and controlling PSS components for meeting desired soft actuator performance, specifications such as PSS mass, volume, and duration of operation must also be considered. Currently, there is no comprehensive study on PSS optimization for meeting dynamic performance and PSS specifications, due to limited understanding of soft actuator pressure dynamics, large solution space for PSSs, and variability in soft actuators. By considering critical parameters of PSS and soft actuators, we introduce and demonstrate PSS parameter optimization. We propose a normalized model for soft actuator pressure dynamics and quantify the relationship between PSS parameters, soft actuator design parameters, and dynamic performance metrics of rise time, fall time, and actuation frequency. After experimental validation, we applied these results and optimally select and control PSS components to meet desired soft actuator performance for a soft exosuit, while minimizing mass of selected components. The measured pressure response with this prototype agrees well with simulations, with root mean square errors <5.2%. This work is a step toward furthering the scope of soft robotics, as it enables PSS modeling and optimization, for meeting the desired soft actuator performance while also addressing PSS specifications.

中文翻译：

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软执行器气源系统参数优化

使用加压空气的软执行器由于其固有的合规性、顺应性和可定制性而被广泛使用。这些执行器由气动供应系统 (PSS) 提供动力和控制，该系统由压​​缩机、阀门、管道和储液罐等组件组成。无论执行器的选择如何，PSS 都会严重影响软机器人的整体性能，因为它控制软执行器的压力动态，从而控制一般的动态行为。在选择和控制 PSS 组件以满足所需的软执行器性能时，还必须考虑 PSS 质量、体积和操作持续时间等规格。目前，由于对软执行器压力动力学的了解有限，目前还没有针对满足动态性能和 PSS 规范的 PSS 优化进行全面研究，PSS 的解决方案空间大，以及软执行器的可变性。通过考虑 PSS 和软执行器的关键参数，我们介绍并演示了 PSS 参数优化。我们提出了软执行器压力动力学的归一化模型，并量化了 PSS 参数、软执行器设计参数和上升时间、下降时间和驱动频率的动态性能指标之间的关系。经过实验验证，我们应用这些结果并优化选择和控制 PSS 组件，以满足软外装所需的软执行器性能，同时最大限度地减少所选组件的质量。该原型测得的压力响应与模拟结果非常吻合，均方根误差 <5.2%。这项工作是朝着进一步扩大软机器人的范围迈出的一步，