The control of pneumatically driven soft robots typically requires electronics. Microcontrollers are connected to power electronics that switch valves and pumps on and off. As a recent alternative, fluidic control methods have been introduced, in which soft digital logic gates permit multiple actuation states to be achieved in soft systems. Such systems have demonstrated autonomous behaviors without the use of electronics. However, fluidic controllers have required complex fabrication processes. To democratize the exploration of fluidic controllers, we developed tube-balloon logic circuitry, which consists of logic gates made from straws and balloons. Each tube-balloon logic device takes a novice five minutes to fabricate and costs $0.45. Tube-balloon logic devices can also operate at pressures of up to 200 kPa and oscillate at frequencies of up to 15 Hz. We configure the tube-balloon logic device as NOT-, NAND-, and NOR-gates and assemble them into a three-ring oscillator to demonstrate a vibrating sieve that separates sugar from rice. Because tube-balloon logic devices are low-cost, easy to fabricate, and their operating principle is simple, they are well suited for exploring fundamental concepts of fluidic control schemes while encouraging design inquiry for pneumatically driven soft robots

翻译：对气动驱动软机器人的控制通常需要电子。微控制器与电动电子设备连接,这些电动电子设备可以开关阀门和泵。作为最近的替代方法,引入了流动控制方法,软数字逻辑门允许在软系统内实现多种振动状态。这些系统显示了不使用电子系统的自主行为。然而,流动控制器需要复杂的制造过程。为了对液压控制器的探索实现民主化,我们开发了管球逻辑电路,由吸管和气球的逻辑门组成。每个管球逻辑设备要花5分钟的时间来制造和费用。每个管球逻辑设备还可以在高达200千帕和悬浮质的压力下,在高达15赫兹的频率上运作。我们把管球逻辑设备配置为NO-、NAND和NORG门的制造程序,并将其组合成一个三环振动螺仪,以展示一种用吸管和气球制糖隔开的振动系统。每个管球逻辑设备需要5分钟来制造和成本。25美元管球逻辑设备也可以在高达200千帕的频率的压力下运作上运作。我们把管球逻辑设备设计成一个简单的试制成一个简单的试制式的试制式的软体,可以用来进行,而容易的试制制制制制制制制制制制制制制制制制制制制成的试。