Abstract
Soft matter computers (SMCs) are promising control and computation mechanisms that do not use rigid materials. In such mechanisms, conductive droplets are used to switch the state of the voltage applied to connected loads, such as in an electric actuator. Without a complex structure, an SMC can only apply voltage in sequence starting from the first load. Therefore, soft robots with simple SMCs can only perform simple operations. In this study, to apply voltage to connected loads in any order and combination, the SMC design was extended by adjusting the spatial intervals between pairs of facing electrodes. The intervals between the pairs of facing electrodes for each load were designed uniquely. These pairs of facing electrodes are electrically connected by two conductive droplets at the same interval and a voltage is applied to the specified connected load. Based on the arrangement of conductive droplets, voltage can be applied to loads arranged in a pattern on a soft tube in any combination and order. An experimental evaluation was conducted to determine whether the proposed method could apply voltage to loads in a predefined pattern. Additionally, the applicability of the proposed method to soft robots was demonstrated by controlling soft actuators in any combination.
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