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A leading concept in soft robotics actuation, as well as in microfluidicsapplications such as valves in lab-on-a-chip devices, is applying pressurizedflow in cavities embedded within elastic bodies. Generating complex deformationpatterns typically requires control of several inputs, which greatlycomplicates the system's operation. In this work, we present a novel method forsingle-input control of a serial chain of bi-stable elastic chambers connectedby thin tubes. Controlling a single flow rate at the chain's inlet, we inducean irreversible sequence of transitions that can reach any desired statecombination of all bi-stable elements. Mathematical formulation and analysis ofthe system's dynamics reveal that these transitions are enabled thanks tobi-stability combined with pressure lag induced by viscous resistance. Theresults are demonstrated via numerical simulations combined with experimentsfor chains of up to 5 chambers, using water-diluted glycerol as the injectedfluid. The proposed technique has a promising potential for development ofsophisticated soft actuators with minimalistic control.

Single-Input Control of Multiple Fluid-Driven Elastic Actuators Via Interaction Between Bi-Stability and Viscosity