Soft actuator driving system using conductive fluid

Abstract

Soft robots have been developed in recent years. In order for a soft robot to perform complex motions, it is needed to operate multiple actuators using multiple wires. Multiple wires increase the weight of the soft robot and limits the degree of freedom. We propose a system that uses a single channel to operate a specific actuator from a group of them by combining conductive droplet spacing and electrode spacing. In this system, two electrodes facing each other across the channel are placed at different intervals to connect the actuator to the power supply. While flowing insulating fluid in the channel, multiple conductive droplets are injected at various intervals. Regardless of the order in which the actuators are placed, only those actuators with electrodes that have the same intervals as conductive droplets will operate. This method can simplify the driving system and reduce the weight of soft robots.