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However, these actuators are mostly controlled by rigid electronic pneumatic valves, which can hardly be integrated into the robot itself, limiting its mobility and adaptability. Recent advances in soft or electronics\u2010free valve designs provide the potential to achieve an integrated soft robotic system with reduced weight and rigidity. Nevertheless, the challenge in valve response remains open. To enable dynamic control of a soft pneumatic actuator (SPA), a fast\u2010response proportional valve is needed. Herein, the potential of Ecoflex\u2010based magnetorheological elastomer (MRE) membrane to create a proportional valve that can be used in the control of a soft robot made from the same silicone material is explored. Experimental characterization shows that the proposed MRE valve (30\u2009mm\u2009\u00d7\u200930\u2009mm\u2009\u00d7\u200915\u2009mm, 30\u2009grams) can hold pressure up to 41.3\u2009kPa and regulate the airflow in an analog manner. The valve is used to perform closed\u2010loop proportional\u2013integral\u2013differential (PID) control with 50\u2009Hz on a SPA and is able to control the pressure within the actuator chamber with a root\u2010mean\u2010square error of 0.05\u2009kPa.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202200238","type":"journal-article","created":{"date-parts":[[2022,10,17]],"date-time":"2022-10-17T14:32:47Z","timestamp":1666017167000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["A Magnetorheological Elastomer\u2010Based Proportional Valve for Soft Pneumatic Actuators"],"prefix":"10.1002","volume":"5","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2633-723X","authenticated-orcid":false,"given":"Sihan","family":"Wang","sequence":"first","affiliation":[{"name":"Department of Engineering Science University of Oxford  Oxford OX1 3PJ UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4493-4660","authenticated-orcid":false,"given":"Liang","family":"He","sequence":"additional","affiliation":[{"name":"Department of Engineering Science University of Oxford  Oxford OX1 3PJ UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1562-7044","authenticated-orcid":false,"given":"Alessandro","family":"Albini","sequence":"additional","affiliation":[{"name":"Department of Engineering Science University of Oxford  Oxford OX1 3PJ UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3520-4399","authenticated-orcid":false,"given":"Peizhi","family":"Zhang","sequence":"additional","affiliation":[{"name":"Research Innovation Center Waseda University  Shinjuku\u2010ku Tokyo 162\u20100041 Japan"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7588-9567","authenticated-orcid":false,"given":"Perla","family":"Maiolino","sequence":"additional","affiliation":[{"name":"Department of Engineering Science University of Oxford  Oxford OX1 3PJ UK"}]}],"member":"311","published-online":{"date-parts":[[2022,10,17]]},"reference":[{"key":"e_1_2_8_2_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202000128"},{"key":"e_1_2_8_3_1","first-page":"3","volume-title":"Actuators","author":"Walker J.","year":"2020"},{"key":"e_1_2_8_4_1","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0107216"},{"key":"e_1_2_8_5_1","author":"Zhang B.","year":"2021","journal-title":"Soft Rob."},{"key":"e_1_2_8_6_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aar7986"},{"key":"e_1_2_8_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3118086"},{"key":"e_1_2_8_8_1","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.abe5257"},{"key":"e_1_2_8_9_1","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1820672116"},{"key":"e_1_2_8_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3147898"},{"key":"e_1_2_8_11_1","doi-asserted-by":"crossref","unstructured":"M. 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