Fluidic logic circuitry analogous to its electric counterpart could potentially provide soft robots with machine intelligence due to its supreme adaptability, dexterity, and seamless compatibility using state-of-the-art additive manufacturing processes. However, conventional microfluidic channel based circuitry suffers from limited driving force, while macroscopic pneumatic logic lacks timely responsivity and desirable accuracy. Producing heavy duty, highly responsive and integrated fluidic soft robotic circuitry for control and actuation purposes for biomedical applications has yet to be accomplished in a hydraulic manner. Here, we present a 3D printed hydraulic fluidic half-adder system, composing of three basic hydraulic fluidic logic building blocks: AND, OR, and NOT gates. Furthermore, a hydraulic soft robotic half-adder system is implemented using an XOR operation and modified dual NOT gate system based on an electrical oscillator structure. This half-adder system possesses binary arithmetic capability as a key component of arithmetic logic unit in modern computers. With slight modifications, it can realize the control over three different directions of deformation of a three degree-of-freedom soft actuation mechanism solely by changing the states of the two fluidic inputs. This hydraulic fluidic system utilizing a small number of inputs to control multiple distinct outputs, can alter the internal state of the circuit solely based on external inputs, holding significant promises for the development of microfluidics, fluidic logic, and intricate internal systems of untethered soft robots with machine intelligence.

翻译：流体逻辑电路与电子逻辑电路类似，凭借其卓越的适应性、灵活性以及与最新增材制造工艺的无缝兼容性，有望为软体机器人提供机器智能。然而，传统的基于微流体通道的电路驱动力不足，而宏观气动逻辑则缺乏及时的响应性和理想的精度。能够用于生物医学应用中控制和驱动的高负载、高响应性及集成化流体软体机器人电路，迄今尚未通过液压方式实现。本文提出了一种3D打印的液压流体半加器系统，该系统由三个基本液压流体逻辑构建模块组成：与门、或门和非门。此外，基于振荡器结构，利用异或操作和改进的双非门系统，实现了一个液压软体机器人半加器系统。该半加器系统具备二进制算术能力，是现代计算机中算术逻辑单元的关键组件。通过轻微修改，仅通过改变两个流体输入的状态，即可实现对三自由度软体驱动机构三个不同变形方向的独立控制。该液压流体系统利用少量输入控制多个不同输出，能够仅基于外部输入改变电路内部状态，对微流控、流体逻辑以及具有机器智能的无线软体机器人内部复杂系统的发展具有重要意义。