A Wireless Compact Control Unit (WiCCU) for Untethered Pneumatic Soft Robots

Luigi Manfredi (Lead / Corresponding author), Alfred Cuschieri

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)
240 Downloads (Pure)


The performance of a soft pneumatic robot (SPR) relies on the synergy between the mechanical design and the control unit that implements a closed-loop control between sensors and actuators. Most controllers are designed by using off-the-shelf components. Although commercial parts present high precision and reliability, they are heavy and bulky, limiting the realisation and design of untethered robots. The present study describes a wireless pneumatic control unit of a compact and light design that can control up to 3 pneumatic chambers. The unit includes pressure sensors and high precision miniaturised proportional valves. To simplify both the electrical cabling and the air tubes connections, a compact manifold is used to connect valves and pressure sensors. The control unit uses a Bluetooth RS232 serial module for a wireless communication. The mechatronic design is reported describing the electronic hardware, the manifold solution, and the firmware implementation. Experiments report i) the control of a linear pneumatic actuator (LPA), and ii) a simultaneous activation of 3 LPAs connected to a base providing 3 degrees of freedom (DOFs).
Original languageEnglish
Title of host publication2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)
Number of pages6
ISBN (Electronic)9781538692608, 9781538692592
ISBN (Print)9781538692615
Publication statusPublished - 27 May 2019
Event2019 2nd IEEE International Conference on Soft Robotics: RoboSoft - Seoul, Korea, Republic of
Duration: 14 Apr 201918 Apr 2019
Conference number: 2

Publication series

NameRoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics


Conference2019 2nd IEEE International Conference on Soft Robotics
Country/TerritoryKorea, Republic of
Internet address


  • Valves
  • Manifolds
  • Pressure sensors
  • Robots
  • Pneumatic systems
  • Bluetooth
  • Wireless communication

ASJC Scopus subject areas

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization
  • Materials Science (miscellaneous)


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