Open-Loop Characterisation of Soft Actuator Pressure Regulated by Pulse-Driven Solenoid Valve
I tiakina i:
| I whakaputaina i: | Robotics vol. 14, no. 12 (2025), p. 177-199 |
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| Kaituhi matua: | |
| Ētahi atu kaituhi: | , , , |
| I whakaputaina: |
MDPI AG
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| Ngā marau: | |
| Urunga tuihono: | Citation/Abstract Full Text + Graphics Full Text - PDF |
| Ngā Tūtohu: |
Kāore He Tūtohu, Me noho koe te mea tuatahi ki te tūtohu i tēnei pūkete!
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| Whakarāpopotonga: | 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. |
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| ISSN: | 2218-6581 |
| DOI: | 10.3390/robotics14120177 |
| Puna: | Advanced Technologies & Aerospace Database |