An Innovative FV with 3D Based RS in SR

This work presents a novel valve that allows the intuitive spatial control of manipulators that are continuum or soft. The valve’s distinctive design allows it to concurrently manage three pressure feed points, drawing inspiration from hydraulic flapper valves. Soft robots may be precisely positioned thanks to the three antagonistically organised hydraulic actuators that are driven by these sites. The radial design of the variable control orifices is symmetrical with respect to rotation, enabling inline placement within the manipulator’s body. Different actuator pressurisations may be obtained by varying the 3D configurations of the valve ring, which results in a variety of manipulator spatial configurations. Because the valve design may be miniaturised, it can be used in situations where size is limited, including surgical robotics and compact soft manipulators. The valve’s performance may be accurately modeled through experimental validation, and it can be utilized to operate three actuators in an antagonistic arrangement for soft manipulator control.