Tube-Balloon Logic for the Exploration of Fluidic Control Elements

The control of pneumatically driven soft robots typically requires electronics. Microcontrollers are connected to power electronics that switch valves and pumps on off. As a recent alternative, fluidic methods have been introduced, in which digital logic gates permit multiple actuation states be achieved systems. Such systems demonstrated autonomous behaviors without the use However, controllers required complex fabrication processes. To democratize exploration controllers, we developed tube-balloon circuitry, consists made from straws balloons. Each device takes novice five minutes fabricate costs $0.45. Tube-balloon devices can also operate at pressures up 200 kPa oscillate frequencies 15 Hz. We configure as NOT-, NAND-, NOR-gates assemble them into three-ring oscillator demonstrate vibrating sieve separates sugar rice. Because low-cost, easy fabricate, their operating principle is simple, they well suited for exploring fundamental concepts schemes while encouraging design inquiry robots.