This master thesis discusses the design of a 3D printed integrated miniature valve to control the air and flow rate in pneumatic soft robotics. The valve is able to control multiple bellows from inside the body of the soft robotic by only using one tube of air supply. The valves are actuated by Shape Memory Alloy actuator wires, named Flexinol. The valves are 3D printed together with the body of the soft robotic including the inflatable bellows.

Soft robotics make use of soft en flexible materials. They are able to perform delicate tasks and adapt to their environment. Soft robotics including multiple inflatable bellows need to be connected to a pneumatic power source. When the bellows need to be controlled by the speed of inflation and deflation, a problem occurs. Current valves available on the market are not suited. They are too heavy, large or expensive. In this master theses is worked on the solution.