This paper presents a passive control method for multiple degrees of freedom in a soft pneumatic robot through the combination of flow resistor tubes with series inflatable actuators. We designed and developed these 3D printed resistors based on the pressure drop principle of multiple capillary orifices, which allows a passive control of its sequential activation from a single source of pressure. Our design fits in standard tube connectors, making it easy to adopt it on any other type of actuator with pneumatic inlets. We present its characterization of pressure drop and evaluation of the activation sequence for series and parallel circuits of actuators. Moreover, we present an application for the assistance of postural transition from lying to sitting. We embedded it in a wearable garment robot-suit designed for infants with cerebral palsy. Then, we performed the test with a dummy baby for emulating the upper-body motion control. The results show a sequential motion control of the sitting and lying transitions validating the proposed system for flow control and its application on the robot-suit.
翻译：本文通过流阻管与一系列充气活化器结合,为软充气机器人多度自由提供了一种被动控制方法。 我们设计并开发了这些三维印刷阻力器, 其依据是多个毛毛孔或孔体的压力降压原理, 允许从单一压力源被动控制其相继激活。 我们的设计符合标准管连接器, 使得它更容易被使用在任何其它类型的有充气插管的动作器上。 我们展示了对降压特性的定性, 并评估了一系列动能器和平行电路的启动序列。 此外, 我们提出了协助从躺到坐的后期过渡程序。 我们将其嵌入了为大脑麻动的婴儿设计的穿衣机器人衣。 然后, 我们用一个假婴儿进行了测试, 以模拟上体运动控制。 结果显示, 静坐和躺中转换的顺序控制, 验证了拟议流动控制系统及其在机器人装上的应用 。
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