Jing Xu: Pneumatic Circuits for Soft Robotics and Wearables

Abstract

This thesis advances the field of soft robotics by developing a unified framework for pneumatic circuits that enable multiplexing, logic processing, sensing, and control. Motivated by the growing demand for compliant, lightweight, and intelligent systems in wearable and human–robot interaction contexts, the work addresses longstanding challenges in scaling soft robotic architectures by integrating multifunctional pneumatic valves. By leveraging the pneumatic mechanisms—ranging from miniaturized actuator matrices and high-gain valves to sensor–valve reflex loops and reconfigurable modular assemblies—the research demonstrates how pneumatic hardware can serve as actuating, sensing, and computing units.

The thesis introduces several key contributions. First, a multiplexed pneumatic actuator matrix enables   actuators to be controlled using only   signals, offering a scalable and space-efficient solution for high-density soft robotic interfaces. Second, programmable and reconfigurable pneumatic valves—including hot-pluggable pinch valves, normally open and normally closed architectures, and multifunctional logic-enabled devices—facilitate Boolean operations such as AND, OR, NAND, and NOR without physical rewiring. These valves achieve high pressure gain, rapid switching, and seamless integration into existing pneumatic lines. Third, the dissertation establishes electronics-free sensorimotor pathways by coupling pressure-sensitive pouches with pneumatic logic, enabling autonomous grasping, haptic feedback, and object classification. Finally, a hook-and-loop modular soft robotic framework enables rapid, reversible assembly of diverse robotic systems, supporting rapid prototyping and cross-material integration.

Collectively, this work positions pneumatic circuits as foundational building blocks for next-generation soft robotic systems capable of embodied intelligence. By unifying actuation, sensing, logic, and modularity within compliant pneumatic architectures, the dissertation outlines a pathway toward scalable, adaptive, and electronics-free soft robotics suitable for wearable devices, autonomous manipulation, and distributed fluidic computation.