A high-frequency, interaction-induced pneumatic oscillator enabling versatile soft robotics

Here, we report a high-frequency, interaction-induced pneumatic oscillator (HIPO) that generates self-sustained oscillations through internal mechanical-fluidic coupling in soft materials. Under constant airflow, reversible contact switching between a holed membrane and a flexible cover enables periodic oscillations up to 97 Hz without rigid valves or electronic control. The oscillator directly converts pneumatic energy into mechanical motion and drives diverse bioinspired soft robots, including crawling, flapping, and swimming systems. By integrating oscillation generation, actuation, and environmental interaction within a single compliant structure, HIPO establishes a compact and scalable approach to embodied actuation in soft robotics.