A Novel 3D Ring-Based Flapper Valve for Soft Robotic Applications

In this paper, the design and testing of a novel valve for intuitive spatial control soft or continuum manipulators are presented. The is based on style hydraulic flapper valve, but with simultaneous three pressure feed points, which can be used to drive antagonistically arranged actuators positioning robots. variable orifices in rotationally symmetric radial pattern allow an inline mounting configuration within body manipulator. Positioning ring at various 3D configurations results different pressurizations corresponding suitable miniaturization use applications size constraints such as small surgical robotics. Experimental validation showed that performance reasonably modeled effectively antagonistic arrangement manipulator control.