The hardware control is mainly controlled by an arduino mega 2560 however there is a need for high current high voltage switching for the solenoids used to either inflate or deflate the module. This switching is provided by a simple darlington transistor circuit.
The design and finished PCB details used to control the hardware can be found in a previous project here…
Here are some of the initial results.
As can be seen from the results there is a faster acceleration experience on the downward section of the response. This could be due to the characteristics of the actuator being used or that of gravity providing the extra acceleration on the downwards stroke.