An elastomeric device converts a constant input pressure into multiple oscillating, temporally offset output pressures. Periodic actuation of multiple soft, pneumatic actuators requires coordinated function of multiple, separate components. This work demonstrates a soft, pneumatic ring oscillator that induces temporally coordinated periodic motion in soft actuators using a single, constant-pressure source, without hard valves or electronic controls. The fundamental unit of this ring oscillator is a soft, pneumatic inverter (an inverting Schmitt trigger) that switches between its two states (“on” and “off”) using two instabilities in elastomeric structures: buckling of internal tubing and snap-through of a hemispherical membrane. An odd number of these inverters connected in a loop produces the same number of periodically oscillating outputs, resulting from a third, system-level instability; the frequency of oscillation depends on three system parameters that can be adjusted. These oscillatory output pressures enable several applications, including undulating and rolling motions in soft robots, size-based particle separation, pneumatic mechanotherapy, and metering of fluids. The soft ring oscillator eliminates the need for hard valves and electronic controls in these applications.

中文翻译：

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软环形振荡器

弹性装置将恒定的输入压力转换为多个振荡的，暂时抵消的输出压力。多个软气动致动器的定期致动需要多个独立组件的协调功能。这项工作演示了一个软的气动环形振荡器，它使用单个恒压源在没有硬阀或电子控制的情况下在软执行器中引起时间协调的周期性运动。该环形振荡器的基本单元是一个柔软的气动逆变器（施密特触发器），它利用弹性体结构中的两个不稳定性在其两种状态（“开”和“关”）之间进行切换：内部管路弯曲和卡扣。半球形膜。这些奇数个连接在一个回路中的逆变器产生相同数量的周期性振荡输出，由系统级别的第三次不稳定引起的；振荡频率取决于可以调节的三个系统参数。这些振荡的输出压力可实现多种应用，包括软机器人中的起伏和滚动运动，基于尺寸的颗粒分离，气动机械疗法和流体计量。在这些应用中，软环形振荡器消除了对硬阀和电子控制的需求。