Open-Loop Characterisation of Soft Actuator Pressure Regulated by Pulse-Driven Solenoid Valve
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| Publicado en: | Robotics vol. 14, no. 12 (2025), p. 177-199 |
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| Otros Autores: | , , , |
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MDPI AG
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| Acceso en línea: | Citation/Abstract Full Text + Graphics Full Text - PDF |
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| 001 | 3286351787 | ||
| 003 | UK-CbPIL | ||
| 022 | |a 2218-6581 | ||
| 024 | 7 | |a 10.3390/robotics14120177 |2 doi | |
| 035 | |a 3286351787 | ||
| 045 | 2 | |b d20250101 |b d20251231 | |
| 084 | |a 231629 |2 nlm | ||
| 100 | 1 | |a Serrano-Balbontín, Andrés J |u Departamento de Ingeniería Eléctrica, Electrónica y Automática, Escuela de Ingenierías Industriales, Universidad de Extremadura, 06006 Badajoz, Spain; bvinagre@unex.es | |
| 245 | 1 | |a Open-Loop Characterisation of Soft Actuator Pressure Regulated by Pulse-Driven Solenoid Valve | |
| 260 | |b MDPI AG |c 2025 | ||
| 513 | |a Journal Article | ||
| 520 | 3 | |a Solenoid valves are widely used for pressure regulation in soft pneumatic robots, but their inherent electromechanical nonlinearities—such as dead zones, saturation, and pressure-dependent dynamics—pose significant challenges for accurate control. Conventional pulse modulation techniques, including pulse-width modulation (PWM), often exacerbate these effects by neglecting valve-switching transients. This paper presents a physics-informed dynamic modelling framework that captures transient and pressure-dependent behaviours in solenoid valve-driven soft pneumatic systems operating under pulse modulation. The model is experimentally validated on a soft pneumatic actuator (SPA) platform using four modulation schemes: PWM, integral pulse frequency modulation (IPFM), its inverted variant (IIPFM), and <inline-formula>Δ</inline-formula><inline-formula>Σ</inline-formula> modulation. Results demonstrate that only the IIPFM scheme produces near-linear input–pressure characteristics, in close agreement with model predictions. The proposed framework provides new physical insights into valve-induced nonlinearities and establishes a systematic basis for high-fidelity modelling and control of soft pneumatic robotic systems. | |
| 653 | |a Control algorithms | ||
| 653 | |a Experiments | ||
| 653 | |a Solenoid valves | ||
| 653 | |a Valves | ||
| 653 | |a Sensors | ||
| 653 | |a Controllers | ||
| 653 | |a Resorts & spas | ||
| 653 | |a Pulse modulation | ||
| 653 | |a Pneumatics | ||
| 653 | |a Dynamic models | ||
| 653 | |a Pressure dependence | ||
| 653 | |a Actuators | ||
| 653 | |a Pulse duration modulation | ||
| 653 | |a Robotics | ||
| 653 | |a Nonlinearity | ||
| 653 | |a Pulse frequency modulation | ||
| 700 | 1 | |a Tejado Inés |u Departamento de Ingeniería Eléctrica, Electrónica y Automática, Escuela de Ingenierías Industriales, Universidad de Extremadura, 06006 Badajoz, Spain; bvinagre@unex.es | |
| 700 | 1 | |a Vinagre, Blas M |u Departamento de Ingeniería Eléctrica, Electrónica y Automática, Escuela de Ingenierías Industriales, Universidad de Extremadura, 06006 Badajoz, Spain; bvinagre@unex.es | |
| 700 | 1 | |a Aphale, Sumeet S |u Artificial Intelligence, Robotics and Mechatronic Systems Group (ARMS), School of Engineering, University of Aberdeen, Aberdeen AB24 3UE, UK; s.aphale@abdn.ac.uk (S.S.A.); andres.san-millanrodriguez@abdn.ac.uk (A.S.-M.) | |
| 700 | 1 | |a San-Millan, Andres |u Artificial Intelligence, Robotics and Mechatronic Systems Group (ARMS), School of Engineering, University of Aberdeen, Aberdeen AB24 3UE, UK; s.aphale@abdn.ac.uk (S.S.A.); andres.san-millanrodriguez@abdn.ac.uk (A.S.-M.) | |
| 773 | 0 | |t Robotics |g vol. 14, no. 12 (2025), p. 177-199 | |
| 786 | 0 | |d ProQuest |t Advanced Technologies & Aerospace Database | |
| 856 | 4 | 1 | |3 Citation/Abstract |u https://www.proquest.com/docview/3286351787/abstract/embedded/Q8Z64E4HU3OH5N8U?source=fedsrch |
| 856 | 4 | 0 | |3 Full Text + Graphics |u https://www.proquest.com/docview/3286351787/fulltextwithgraphics/embedded/Q8Z64E4HU3OH5N8U?source=fedsrch |
| 856 | 4 | 0 | |3 Full Text - PDF |u https://www.proquest.com/docview/3286351787/fulltextPDF/embedded/Q8Z64E4HU3OH5N8U?source=fedsrch |