Soft Fluidic Sheet Transistor for Soft Robotic System Enabling Fluid Logic Operations
Yuki Origane, Koya Cho, Hideyuki Tsukagoshi

TL;DR
This paper introduces a soft fluidic sheet transistor (FST) that performs logical operations using pneumatic signals, enabling flexible, soft robotic systems with integrated fluid logic capabilities.
Contribution
It presents the design, fabrication, and operation of the FST, a novel pneumatic transistor that can perform various logical functions and be integrated into soft robots.
Findings
FST can perform NOT, NAND, NOR logic operations.
A fluidic latch circuit was successfully demonstrated.
The system enables soft robots to change behavior using only pneumatic control.
Abstract
Aiming to achieve both high functionality and flexibility in soft robot system, this paper presents a soft urethane sheet-like valve with an amplifier that can perform logical operations using only pneumatic signals. When the control chamber in the valve is pressurized, the main path is compressed along its central axis, buckling and being pressed,resulting in blockage. This allows control by a pressure signal smaller than that within the main channel. Furthermore, similar to transistors in electrical circuits, when combined, the proposed valve can perform a variety of logical operations. The basic type operates as a NOT logic element, which is named the fluidic sheet transistor (FST). By integrating multiple FSTs, logical operations such as positive logic, NAND, and NOR can be performed on a single sheet. This paper describes the operating principle, fabrication method, and…
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Taxonomy
TopicsSoft Robotics and Applications · Dielectric materials and actuators · Advanced Materials and Mechanics
