Soft robotics is an attractive and rapidly emerging field, in which actuation is coupled with the elastic response of the robot's structure to achieve complex deformation patterns. A crucial challenge is the need for multiple control inputs, which adds significant complication to the system. We propose a novel concept of single-input control of an actuator composed of interconnected bi-stable elements. Dynamic response of the actuator and pre-designed differences between the elements are exploited to facilitate any desired multi-state transition, using a single dynamic input. We show formulation and analysis of the control system's dynamics and pre-design of its multiple equilibrium states, as well as their stability. Then we fabricate and demonstrate experimentally on single-input control of two- and four-element actuators, where the latter can achieve transitions between up to 48 desired states. Our work paves the way for next-generation soft robotic actuators with minimal actuation and maximal dexterity.

翻译：软体机器人是一个极具吸引力且快速发展的领域，其驱动机制与机器人结构的弹性响应相耦合，以实现复杂的变形模式。一个关键挑战在于需要多个控制输入，这给系统带来了显著的复杂性。我们提出了一种新颖的单输入控制概念，用于由互连双稳态元件构成的执行器。通过利用执行器的动态响应以及元件间预先设计的差异，仅需单个动态输入即可实现任意所需的多状态转换。我们展示了控制系统动力学的公式化描述与分析、其多平衡态的预先设计及其稳定性。随后，我们通过制造并实验演示了双元件和四元件执行器的单输入控制，其中后者可实现多达48个期望状态之间的转换。我们的工作为下一代具有最少驱动需求和最大灵巧性的软体机器人执行器铺平了道路。