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<p>As pneumatic robotics evolve toward high-degree-of-freedom arrays with multiple actuators, the conventional one-valve-one-actuator control paradigm inevitably leads to component redundancy and convoluted tubing layouts. To fundamentally reduce the controller’s quantity, here we propose a bioinspired customizable mechanical central pattern generator as an entirely electronics-free one-to-many scalable pneumatic control core. As an externally-clocked mechanical central pattern generator analog, this device integrates multi-channel timing logic into a single physical unit, enabling a single pneumatic input to drive multiple output channels in coordinated, predefined sequences and thereby achieving efficient 1:<i>n</i> pneumatic control over multiple actuators. Experimental characterizations of four- and five-channel configurations demonstrate pressure retention rates exceeding 90.8% across varying input pressures and loads. Leveraging discrete and mechanically-latched state transitions, the device decouples its internal clock from external load dynamics, ensuring exceptional sequence fidelity even under physical disturbances. Applications involving a three-chamber pipeline robot, a point-to-point material handling system, and a five-fingered dexterous hand comprehensively demonstrate the device’s remarkable multi-channel coordination, scalability, and customizability. By embedding control logic into its physical structure, this work fundamentally breaks the coupling between system complexity and controller count, providing a new paradigm for electronics-free and autonomous pneumatic systems.</p>

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A bio-inspired customizable mechanical central pattern generator enables one-to-many scalable pneumatic control

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2026年5月6日

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  • Yuyan Qi,
  • Yongjian Zhao,
  • Jiaqi Shao,
  • Bin Sun,
  • Songyi Zhong,
  • Shaorong Xie,
  • Xiaote Xu,
  • Xiaoqiang Guo,
  • Ying Hong,
  • Biao Wang,
  • Yang Yang

摘要

As pneumatic robotics evolve toward high-degree-of-freedom arrays with multiple actuators, the conventional one-valve-one-actuator control paradigm inevitably leads to component redundancy and convoluted tubing layouts. To fundamentally reduce the controller’s quantity, here we propose a bioinspired customizable mechanical central pattern generator as an entirely electronics-free one-to-many scalable pneumatic control core. As an externally-clocked mechanical central pattern generator analog, this device integrates multi-channel timing logic into a single physical unit, enabling a single pneumatic input to drive multiple output channels in coordinated, predefined sequences and thereby achieving efficient 1:n pneumatic control over multiple actuators. Experimental characterizations of four- and five-channel configurations demonstrate pressure retention rates exceeding 90.8% across varying input pressures and loads. Leveraging discrete and mechanically-latched state transitions, the device decouples its internal clock from external load dynamics, ensuring exceptional sequence fidelity even under physical disturbances. Applications involving a three-chamber pipeline robot, a point-to-point material handling system, and a five-fingered dexterous hand comprehensively demonstrate the device’s remarkable multi-channel coordination, scalability, and customizability. By embedding control logic into its physical structure, this work fundamentally breaks the coupling between system complexity and controller count, providing a new paradigm for electronics-free and autonomous pneumatic systems.