Design and assembly of vasoconstriction-like flow regulators for micro channels applications

The kinematic control of pneumatically-powered robots is still a challenge, partially because of the lack of controllable flow regulators which can be used to adjust the inflation speed. Inspired by the circulatory system, which is controlled not only by the pressure generated by the heart, but also by the vascular smooth muscles that regulate the cross-sectional area of the vessels, we invented a structurally-simple and low-cost flow regulator prototype. Specifically, we introduced a non-cylindrical flexible section in the flow channel. By applying external pressure (squeezing), the flow channel can deform and thus the flow rate can be adjusted. We studied the relations between the flow rate and interference pressure at different vessel pressure and geometries, from which we concluded the most energy efficient combinations of power source and local regulators. This model flow regulator can help improve the accuracy of fluid or air-powered robots by adding flow rates into the control close-loop. We will demonstrate a soft robotic arm we built benefiting from this principle and prototype.