PneuNet based control system for soft robotic tongue

The control system of a novel soft robot which can mimic a few deformations of human tongue was designed based on closed-loop control method. For the purpose of reducing the cost, solenoid directional valves and pressure sensors are applied to the pneumatic actuation circuit instead of proportional valves, which can reduce the cost by about 70%. The electrical circuit of this system consists of a DAQ card, NPN transistors and some other auxiliary components. The control program is written in LabVIEW software because of its compatibility with the DAQ card. Three working modes are realised through the control program including loading, holding and unloading. Several tests of this control system have been carried out and five typical deformations were achieved approving that this system can control the pressure in each chamber independently.