Bistable Valve Research Articles

Corrections to: “The Soft Compiler: A Web-Based Tool for the Design of Modular Pneumatic Circuits for Soft Robots”

In Section “I. Introduction” on page 6060 of our original article [1], we describe Rothemund et al.’s work on the soft bistable valve [2]. The corresponding reference to their work was cited incorrectly.

A fluidic relaxation oscillator for reprogrammable sequential actuation in soft robots

A fluidic relaxation oscillator for reprogrammable sequential actuation in soft robots

A Modular Approach to Design Multi-Channel Bistable Valves for Integrated Pneumatically-Driven Soft Robots via 3D-Printing

A pneumatic system that transmits power via the force of compressed air is an essential component of an air-driven soft robot. Pneumatic valves are one of the key parts of this system. However, the development of soft or electronics-free valves for soft robotic applications is in its infancy, with only a few 2/2 way valves developed. Previous research has shown demands for a complex pneumatic system that can regulate the airflow in multiple channels or switching the pressure within a chamber between multiple states. Hardware redundancy is found in such complex pneumatic circuits if only 2/2 way valves are available for the system design. To increase the design freedom, this paper presents a modular approach that integrates multi-channel modular valve units and bi-stable structures for the conversion of pneumatic signals. By utilising soft-material 3D printing, the 3/2-way valve, 4/2-way valve and 5/2-way valve design are proposed in this paper to control multiple air channels simultaneously. The modular design of these 3D printed multi-port valves allows quick design and fabrication solutions of a complex electronics-free pneumatic system by reassembling different modular units of the valve. Experiment characterization of the multi-channel valves shows maximum allowable pressure at 187.2 kPa and a flow rate of 7.42 L/min under 50 kPa pressure loss. A demonstration of controlling four states of a dual-chamber soft robotic arm with only two modular multi-chamber valves was included, showing reduced valve units and overall weight compared to conventional electronics-free 2/2 way valves.

Design and Characterization of a 3D-Printed Pneumatically-Driven Bistable Valve With Tunable Characteristics

Although research studies in pneumatic soft robots develop rapidly, most pneumatic actuators are still controlled by rigid valves and conventional electronics. The existence of these rigid, electronic components sacrifices the compliance and adaptability of soft robots.} Current electronics-free valve designs based on soft materials are facing challenges in behaviour consistency, design flexibility, and fabrication complexity. Taking advantages of soft material 3D printing, this paper presents a new design of a bi-stable pneumatic valve, which utilises two soft, pneumatically-driven, and symmetrically-oriented conical shells with structural bistability to stabilise and regulate the airflow. The critical pressure required to operate the valve can be adjusted by changing the design features of the soft bi-stable structure. Multi-material printing simplifies the valve fabrication, enhances the flexibility in design feature optimisations, and improves the system repeatability. In this work, both a theoretical model and physical experiments are introduced to examine the relationships between the critical operating pressure and the key design features. Results with valve characteristic tuning via material stiffness changing show better effectiveness compared to the change of geometry design features (demonstrated largest tunable critical pressure range from 15.3 to 65.2 kPa and fastest response time $\leq$ 1.8 s.

Bistable Valves for MR Fluid-Based Soft Robotic Actuation Systems

Magnetorheological (MR) fluids have unique characteristics that make them well-suited for soft robotic actuation systems. Two particularly interesting applications are bistable valves and force-amplified grippers, which only require power to switch states. These design topologies can not only make MR fluid actuation systems more efficient, but can also allow them to be constructed from entirely compliant materials. In this work, we describe new bistable valve mechanism concepts; the first design is constructed using traditional rigid components while the second design is composed of entirely compliant materials. This includes liquid metal coils, compliant magnetic composites, and silicone flexures. The MR valve concept is modeled using magnetic field theory and scaling laws are determined from MR fluid holding pressure experiments. Then, experimental results are used to show that rough tubing surfaces can withhold an average of 5× more pressure than smooth tubing surfaces. Both rigid and compliant valve topologies are then constructed and tested, showing the ability to hold up to 88 kPa and 37 kPa of pressure, respectively. These valves are then implemented for controlling a soft multi-fingered PneuNet gripper and a new force-amplified MR fluid gripper, which has the ability to provide up to 324$\%$ higher load capacity than purely pressure-driven mechanisms (with the addition of a 25 mm diameter and 12.7 mm thick Nd-Fe-B magnet). Finally, we show how these bistable valves and grippers can be used for grasping and manipulation applications.

Design of a pressure modulator using fast-acting bistable valves

Fast-acting pneumatic valves, combined with a slip-control braking algorithm, have recently been used to improve the straight-line braking performance of an experimental heavy goods vehicle, on low friction roads, by 16%. This paper describes how the fast-acting valves, which were central to the aforementioned research, were designed for use on a commercial vehicle. Design equations, as well as a generalized design method, are first presented for the fast-acting bistable pneumatic valve. A pressure observer is developed to predict the brake chamber pressure in cases where a pressure transducer is mounted upstream. A simple fault detection algorithm is then introduced, which utilizes some of the calculations made in the pressure observer, and is shown to correctly identify faults on a real vehicle. Performance comparisons are made between the new modulator and a conventional heavy goods vehicle electro-pneumatic brake system. Closed-loop frequency response tests show that the control bandwidth of brake chamber pressure on a heavy goods vehicle can be increased from 1.5 Hz to 10 Hz using the new hardware.

A soft, bistable valve for autonomous control of soft actuators.

Almost all pneumatic and hydraulic actuators useful for mesoscale functions rely on hard valves for control. This article describes a soft, elastomeric valve that contains a bistable membrane, which acts as a mechanical "switch" to control air flow. A structural instability-often called "snap-through"-enables rapid transition between two stable states of the membrane. The snap-upward pressure, ΔP 1 (kilopascals), of the membrane differs from the snap-downward pressure, ΔP 2 (kilopascals). The values ΔP 1 and ΔP 2 can be designed by changing the geometry and the material of the membrane. The valve does not require power to remain in either "open" or "closed" states (although switching does require energy), can be designed to be bistable, and can remain in either state without further applied pressure. When integrated in a feedback pneumatic circuit, the valve functions as a pneumatic oscillator (between the pressures ΔP 1 and ΔP 2), generating periodic motion using air from a single source of constant pressure. The valve, as a component of pneumatic circuits, enables (i) a gripper to grasp a ball autonomously and (ii) autonomous earthworm-like locomotion using an air source of constant pressure. These valves are fabricated using straightforward molding and offer a way of integrating simple control and logic functions directly into soft actuators and robots.

Full-scale testing of a novel slip control braking system for heavy vehicles

This paper summarises the measured emergency braking performance of a tri-axle heavy goods vehicle semitrailer fitted with a novel pneumatic slip control braking system developed by the Cambridge Vehicle Dynamics Consortium. Straight-line braking tests were carried out from 40 km/h in order to compare a commercially electro-pneumatic available anti-lock braking system and the Cambridge Vehicle Dynamics Consortium system, which has bi-stable valves coupled with a sliding-mode slip controller. On average, the Cambridge Vehicle Dynamics Consortium system reduced the stopping distance and the air use by 15% and 22% respectively compared with those for the conventional anti-lock braking system. The most significant improvements were seen on a wet basalt-tile surface (with similar friction properties to ice) where the stopping distance and the air use were improved by 17% and 30% respectively. A third performance metric, namely the mean absolute slip error, is introduced to quantify the ability of each braking system to track a wheel slip demand. Using this metric, the bi-stable valve system is shown to improve the wheel slip demand tracking by 62% compared with that of the conventional anti-lock braking system. This improvement potentially allows more accurate control of the wheel forces during extreme manoeuvres, providing scope for the future development of advanced stability control systems.

A latchable high-pressure thermohydraulic valve actuator

This work presents a latchable thermohydraulic microactuator for use in high-pressure valves, e.g. for oceanic sampling in missions of long duration. Mounted on a miniature submersible, it can be used in confined spaces to explore previously unreachable environments. However, the device can be used in any high-pressure application where long duration open and/or closed valve states are required, and power consumption is an issue. The actuator is fabricated using standard batch-processes as photochemical machining, wet etching and photolithography. The actuation and latching mechanisms are both thermohydraulic, using solid-to-liquid phase transition of paraffin for actuation and of a low melting point alloy for latching. Focus of this work is on the endurance of the actuator to facilitate a bistable valve. The actuator managed to keep a deflected position for almost 50h at the load equivalent to 1.8MPa applied pressure, after which the experiment was aborted. No pressure dependence was discovered in the latching losses, i.e. the difference in deflection before and after the actuator is powered off. Furthermore, the effect of intermixing of paraffin and the low melting point alloy was evaluated.

Bistable diverter valve in microfluidics

Bistable diverter valves are useful for a large number of no-moving-part flow control applications, and there is a considerable interest in using them also in microfluidics, especially for handling small pressure-driven flows. However, with decreasing Reynolds number, the Coanda effect—on which the flow diverting effect depends—becomes less effective. Authors performed a study, involving flow visualisation, PIV experiments, measurements of the flow rates, and numerical flowfield computations, aimed at clarifying behaviour of a typical fluidic valve at low Reynolds numbers. A typical fluidic valve originally developed for high Re operation was demonstrated to be useful, though with progressively limited efficiency, down to surprisingly low Re values as small as Re = 800. Also observed was a previously not reported discontinuation in the otherwise monotonic decrease in performance at Re between 1,500 and 2,000.

Fluidic control of reactor flow—Pressure drop matching

Using no-moving-part fluidic valves to control reactant flows into chemical reactors has been discussed for a considerable time, but as yet is not so widespread as its obvious advantages would deserve. One of the main reasons is the encountered problems associated with matching the properties of the valve and the reactor – particularly if the latter is of short residence time type. The matching is complicated by there being two matching criteria to be met, often mutually incongruent. On one hand, it is the optimality of mass transfer (no spillover); on the other hand, it is the optimality of hydraulic power transfer. In this paper, the procedure for balancing and matching the pressure drops across the devices is derived and demonstrated on a model example, using simplified 2D computation results for a family of simple premixed-reaction chemical minireactors and two families of small fluidic bistable valves.

Improved design of low-pressure fluidic microvalves

Multilayer soft lithography (MSL) is used to fabricate monolithic elastomeric on-off microvalves by adopting a two-layer cross-channel architecture. The performance of microvalves is strongly dependent on the two-channel geometry (width, height and shape) and on the thickness of the interlayer membrane. Using a finite element model previously validated against experiments, we propose a new fluidic microvalve design, based on the concept of chemically swelling the thin interlayer membrane so as to induce two stable equilibrium configurations. The complete closure of the new valve may then be achieved by applying a much reduced actuation pressure, down to 1/4 of the pressure needed by the standard monostable design. The maximum stress in the interlayer membrane of the bistable valve also drops to 1/3 of the value corresponding to the standard design.

Computer Simulation of the Bi-Stable Valve in the A340 Landing Gear

The increasing use of simulation for both circuit and component analysis in the aircraft industry has come about due to the requirement for acceptable transient as well as steady state performance of aircraft systems. The computer simulation package, Bathfp, developed at the Fluid Power Centre, University of Bath, is suitable for investigations into both of these. Utilities are provided which allow a model of a complicated system or component to be built up from its elements, which can be introduced to the model library of components so that particular dedicated areas of interest such as flight control actuation systems and braking and landing gear may be examined in detail. Component models enable the internal details of valves, pumps, motors, actuators and other elements to be simulated to a high degree of accuracy. This paper describes the application of the simulation package to perform a detailed analysis of the bi-stable valve in the A340 landing gear shock absorber. In the original design, a malfunction of the valve during impact on landing was clearly identified by an experimental test. Parametric variations are made in the simulation to identify the possible cause of the malfunction.

The Engström Elsa anaesthetic machine An electronic system for anaesthesia

Six Engström Elsa anaesthetic machines have been in regular use for 18-24 months. The machine incorporates a number of new concepts for anaesthetic delivery and monitoring. At flows below 1000 ml/minute, each machine delivered 20% more than the indicated value; at higher flows, the indicated value was within 10% of the flow delivered. Minute volume, tidal volumes and oxygen concentrations were within the manufacturer's specifications. However, vaporizer and vapour monitor performance was outside the (SD) 5% accuracy claimed by the manufacturers. It was noted that the bistable valve requires user familiarity for the change from controlled to spontaneous ventilation to be accomplished with ease. It was also possible to misconnect the breathing system and so isolate the excess pressure escape valve and high-pressure alarm. Nevertheless, once familiarisation was achieved, the machines have proved easy to operate and are particularly satisfactory when used with low fresh gas flows.

New polyurethane valves in new soft artificial hearts.

This article describes new bistable valves, and introduces a new soft heart that is easy to implant. Earlier, five polyurethane (PU) valves were implanted in the mitral position in sheep. All five survived for 1 year or more, and the valves, although calcified, were intact. Since the opening resistance was somewhat high, valves that are bistable were developed, which means they may be open or closed. These valves have lower opening resistance, and regurgitation is similar to that of mechanical valves. Eight calves have been implanted with a new, soft total artificial heart (TAH). Seven had bistable leaflet valves; the eighth had mechanical (Bicer) valves in the inflow position. Four of the calves were sacrificed after 22 to 43 days. At autopsy, the number of thromboemboli found, particularly in the kidneys, was low compared with previous experiments. None of these animals received anticoagulants other than the heparin given during heart/lung bypass.

New Polyurethane Valves in New Soft Artificial Hearts

This article describes new bistable valves, and introduces a new soft heart that is easy to implant. Earlier, five polyurethane (PU) valves were implanted in the mitral position in sheep. All five survived for 1 year or more, and the valves, although calcified, were intact. Since the opening resistance was somewhat high, valves that are bistable were developed, which means they may be open or closed. These valves have lower opening resistance, and regurgitation is similar to that of mechanical valves. Eight calves have been implanted with a new, soft total artificial heart (TAH). Seven had bistable leaflet valves; the eighth had mechanical (Bicer) valves in the inflow position. Four of the calves were sacrificed after 22 to 43 days. At autopsy, the number of thromboemboli found, particularly in the kidneys, was low compared with previous experiments. None of these animals received anticoagulants other than the heparin given during heart/lung bypass.