Pneumatic actuation benefits soft robotics by facilitating compliance, enabling large volume change, and concentrating actuator weight away from the end-effector. However, portability is compromised when pneumatic actuators are tethered to cumbersome air and power supplies. While there are existing options for portable pneumatic systems, they are limited in dynamic capabilities, constraining their applicability to low pressure and/or small-volume soft robots. In this work, we propose a portable, high-flow pressure supply and regulator (phloSAR) for use in untethered, weight-constrained, dynamic soft robot applications. PhloSAR leverages high-flow proportional valves, an integrated pressure reservoir, and Venturi vacuum generation to achieve portability and dynamic performance. We present a set of models that describe the system dynamics, experimentally validate them on physical hardware, and discuss the influence of design parameters on system operation. Lastly, we integrate a proof-of-concept prototype with a soft robot arm mounted on an aerial vehicle to demonstrate the system's applicability to mobile robotics. Our system enables new opportunities in mobile soft robotics by making untethered pneumatic supply and regulation available to a wider range of soft robots.

翻译：气动驱动通过增强柔顺性、实现大体积变化以及将驱动器重量集中于末端执行器之外，使软体机器人受益。然而，当气动驱动器与笨重的气源和电源相连接时，其便携性受到损害。尽管现有便携式气动系统方案，但其动态性能有限，仅适用于低压力和/或小体积软体机器人。本文提出一种适用于无系留、重量受限且需动态响应的软体机器人应用的便携式高流量压力供给与调节器（phloSAR）。该系统利用高流量比例阀、集成式储气罐及文丘里真空发生技术，兼顾便携性与动态性能。我们建立描述系统动力学的模型集，通过物理硬件进行实验验证，并探讨设计参数对系统运行的影响。最后，将原理样机集成至安装在飞行器上的软体机器人手臂，验证该系统在移动机器人领域的适用性。本系统通过将无系留气动供给与调节能力扩展至更广泛的软体机器人，为移动软体机器人开辟了新机遇。