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

Abstract

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.