Development of Low-Cost and Bidirectional Syringe Pumps for Soft Robotics Applications

TL;DR

This paper presents a low-cost, modular syringe pump system with bidirectional capabilities, designed to improve pneumatic actuation in soft robotics by offering enhanced precision, flexibility, and scalability.

Contribution

It introduces a customizable, off-the-shelf and 3D printed syringe pump system that overcomes traditional pneumatic actuation limitations in soft robotics.

Findings

Enables bidirectional air flow for soft robot actuation

Offers modular hardware and software for customization

Supports simultaneous operation of multiple pumps

Abstract

Soft robotics leverages deformable materials to develop robots capable of navigating unstructured and dynamic environments. Silicone Voxel-Based Soft Robots (Silibots) are a type of pneumatically actuated soft robots that rely on the inflation and deflation of their voxels for shape-shifting behaviors. However, traditional pneumatic actuation methods (high pressure solenoids, medical diaphragm pumps, micro compressors, compressed fluid) pose significant challenges due to their limited efficacy, cost, complexity, or lack of precision. This work introduces a low cost and modular syringe pump system, constructed with off the shelf and 3D printed parts, designed to overcome these limitations. The syringe pump system also enhances actuation with the unique ability to pull a vacuum as well pump air into the soft robot. Furthermore, the syringe pump features modular hardware and customizable software, allowing for researchers to tailor the syringe pump to their requirements or operate multiple pumps simultaneously with unique pump parameters. This flexibility makes the syringe pump an accessible and scalable tool that paves the way for broader adoption of soft robotic technologies in research and education.