Exemplary embodiments relate to the use of servo-pneumatic control systems for actuation and de-actuation of soft robotic actuators. Apparatuses and methods are disclosed for using a servo-pneumatic control system in fluid communication with the soft robotic actuator and configured to maintain a closed loop in which at least one of pressure, mass of fluid, or volume of fluid is controlled within the soft robotic actuator. The embodiments may be used to prevent deformation of grasped objects; detect grasping, collision, and releasing objects; and other operations with a rapid servo-pneumatic response.

Exemplary embodiments relate to the use of servo-pneumatic control systems for actuation and de-actuation of soft robotic actuators. Apparatuses and methods are disclosed for using a servo-pneumatic control system in fluid communication with the soft robotic actuator and configured to maintain a closed loop in which at least one of pressure, mass of fluid, or volume of fluid is controlled within the soft robotic actuator. The embodiments may be used to prevent deformation of grasped objects; detect grasping, collision, and releasing objects; and other operations with a rapid servo-pneumatic response.

The subject matter of this specification can be embodied in, among other things, a method that includes actuating a closure member at a predetermined first velocity a predetermined first number of cycles between a first configuration and a second configuration, actuating the closure member at a predetermined second velocity a predetermined second number of cycles between the first and the second configuration, actuating the closure member at a predetermined third velocity a predetermined third number of cycles and the second configuration, actuating the closure member at a predetermined fourth velocity a predetermined fourth number of cycles and the second configuration, and actuating the closure member to the second configuration at a predetermined fifth velocity for a predetermined flushing period.

A valve device including an outlet port, a first valve unit with a first valve element for setting a first throttle opening for influencing a first airflow of pressurised air which is to be output at the outlet port or is to be released via the outlet port, a first throttle control loop for the closed-loop control of the first throttle opening according to a first setpoint, a pressure control loop for the closed-loop pressure control of an outlet pressure present at the outlet port to a pressure setpoint amid the use of a first throttle control loop as a subordinate control loop, wherein on closed-loop pressure control the pressure control loop specifies a first throttle setpoint to the first throttle control loop as the first setpoint, wherein the valve device is further configured to provide a throttle setting function and, within the throttle setting function, to limit the first throttle opening to a first limitation value and/or within the throttle setting function to specify a first direct setpoint which does not come from the closed-loop pressure control, to the first throttle control loop as the first setpoint.

A valve device including an outlet port, a first valve unit with a first valve element for setting a first throttle opening for influencing a first airflow of pressurised air which is to be output at the outlet port or is to be released via the outlet port, a first throttle control loop for the closed-loop control of the first throttle opening according to a first setpoint, a pressure control loop for the closed-loop pressure control of an outlet pressure present at the outlet port to a pressure setpoint amid the use of a first throttle control loop as a subordinate control loop, wherein on closed-loop pressure control the pressure control loop specifies a first throttle setpoint to the first throttle control loop as the first setpoint, wherein the valve device is further configured to provide a throttle setting function and, within the throttle setting function, to limit the first throttle opening to a first limitation value and/or within the throttle setting function to specify a first direct setpoint which does not come from the closed-loop pressure control, to the first throttle control loop as the first setpoint.

An example robot includes a hydraulic actuator cylinder controlling motion of a member of the robot. The hydraulic actuator cylinder comprises a piston, a first chamber, and a second chamber. A valve system controls hydraulic fluid flow between a hydraulic supply line of pressurized hydraulic fluid, the first and second chambers, and a return line. A controller may provide a first signal to the valve system so as to begin moving the piston based on a trajectory comprising moving in a forward direction, stopping, and moving in a reverse direction. The controller may provide a second signal to the valve system so as to cause the piston to override the trajectory as it moves in the forward direction and stop at a given position, and then provide a third signal to the valve system so as to resume moving the piston in the reverse direction based on the trajectory.

An example robot includes a hydraulic actuator cylinder controlling motion of a member of the robot. The hydraulic actuator cylinder comprises a piston, a first chamber, and a second chamber. A valve system controls hydraulic fluid flow between a hydraulic supply line of pressurized hydraulic fluid, the first and second chambers, and a return line. A controller may provide a first signal to the valve system so as to begin moving the piston based on a trajectory comprising moving in a forward direction, stopping, and moving in a reverse direction. The controller may provide a second signal to the valve system so as to cause the piston to override the trajectory as it moves in the forward direction and stop at a given position, and then provide a third signal to the valve system so as to resume moving the piston in the reverse direction based on the trajectory.

A system including a pneumatic actuator having an actuator element, the system further including a compressed-air provision device which is configured to carry out a closed-loop position control of the actuator element by applying compressed air to the pneumatic actuator. The compressed-air provision device is further configured to carry out an assistance procedure in which the actuator element is set in an oscillation movement, pressure values and position values are detected, and, on the basis of the detected pressure values and the detected position values, friction information and/or mass information is determined and/or verified.

A system initiates a start of at least one of a flow of a fluid into one section of an actuator or an exhaust of the fluid from another section of the actuator to move a piston from a current to a destination position. The system also initiates a stop of at least one of the flow of the fluid into the one section of the actuator or the exhaust of the fluid from the another section of the actuator no later than when the current position is at the destination position and before at least one of: a pressure of the fluid within the one section is the same as the pressure of the fluid in a fluid line providing the fluid; or pressure of the fluid within the another section is the same as the pressure of the fluid at an end of an exhaust line exhausting the fluid.

A system initiates a start of at least one of a flow of a fluid into one section of an actuator or an exhaust of the fluid from another section of the actuator to move a piston from a current to a destination position. The system also initiates a stop of at least one of the flow of the fluid into the one section of the actuator or the exhaust of the fluid from the another section of the actuator no later than when the current position is at the destination position and before at least one of: a pressure of the fluid within the one section is the same as the pressure of the fluid in a fluid line providing the fluid; or pressure of the fluid within the another section is the same as the pressure of the fluid at an end of an exhaust line exhausting the fluid.