Hot‐Plugging Logic‐Enabled Valves

Soft pneumatic robotics are emerging as a transformative force in the field of wearable robotics, especially for their ability to deliver high‐force kinesthetic haptics using lightweight, soft, and compliant materials. Despite these advancements, the miniaturization of these systems and the integration of complex, large‐scale actuators pose significant challenges. Therefore, this research proposes a novel hot‐plugging logic‐enabled pinch valve to facilitate seamless valve integration without disrupting the existing pneumatic system. The valve design incorporates a frame equipped with slots for two pneumatic actuators (PAs). A third slot positioned between these two actuators enables hot‐plugging capabilities for the operational elastic tubing pinched between the actuators. This configuration allows the control of higher operational pressures while operating at lower control pressures, achieving an impressive gain of up to eight and a maximum operational frequency of 1 Hz. Furthermore, by utilizing two PAs and adjusting the control pressure, the valve can execute a range of logical functions, including NOT, NAND, and NOR, without modifying its pneumatic connections. The NAND function of the valve is successfully demonstrated as it transforms an unsecured gripper into a secured one, showcasing its practical implications for enhancing functionality in soft pneumatic robotic systems.