Related papers: Pneumatic Modelling for Adroit Manipulation Platfo…
Despite the fact that only a small portion of muscles are affected in motion disease and disorders, medical therapies do not distinguish between healthy and unhealthy muscles. In this paper, a method is devised in order to calculate the…
Despite rapid progress in autonomous robotics, executing complex or long-horizon tasks remains a fundamental challenge. Most current approaches follow an open-loop paradigm with limited reasoning and no feedback, resulting in poor…
A wide range of haptic feedback is crucial for achieving high realism and immersion in virtual environments. Therefore, a multi-modal haptic interface that provides various haptic signals simultaneously is highly beneficial. This paper…
Worm-inspired robots provide an effective locomotion strategy for constrained environments by combining cyclic body deformation with alternating anchoring. For compliant robots, however, the interaction between deformable anchoring…
Robots built from soft materials can alter their shape and size in a particular profile. This shape-changing ability could be extremely helpful for rescue robots and those operating in unknown terrains and environments. In changing shape,…
Continuum and soft robots can leverage complex actuator shapes to take on useful shapes while actuating only a few of their many degrees of freedom. Continuum robots that also grow increase the range of potential shapes that can be actuated…
Dexterous in-hand manipulation is a unique and valuable human skill requiring sophisticated sensorimotor interaction with the environment while respecting stability constraints. Satisfying these constraints with generated motions is…
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated internally. In particular, oscillations in…
Cloth manipulation is a category of deformable object manipulation of great interest to the robotics community, from applications of automated laundry-folding and home organizing and cleaning to textiles and flexible manufacturing. Despite…
Decades of research in control theory have shown that simple controllers, when provided with timely feedback, can control complex systems. Pushing is an example of a complex mechanical system that is difficult to model accurately due to…
The field of robotics has seen significant advancements in recent years, particularly in the development of humanoid robots. One area of research that has yet to be fully explored is the design of robotic eyes. In this paper, we propose a…
Movement disorders impact muscle strength and mobility, and despite therapeutic efforts, many people with movement disorders have challenges functioning independently. Soft wearable robots, or exosuits, offer a promising solution for…
Soft pneumatic actuators (SPAs) produce motions for soft robots with simple pressure input, however they require to be appropriately designed to fit the target application. Available design methods employ kinematic models and optimization…
A neural network system in an animal brain contains many modules and generates adaptive behavior by integrating the outputs from the modules. The mathematical modeling of such large systems to elucidate the mechanism of rapidly finding…
Performing long-term experimentation or large-scale data collection for machine learning in the field of soft robotics is challenging, due to the hardware robustness and experimental flexibility required. In this work, we propose a modular…
Robotic legs have bimodal operations: swing phases when the leg needs to move quickly in the air (high-speed, low-force) and stance phases when the leg bears the weight of the system (low-speed, high-force). Sizing a traditional…
Upper-limb amputees face tremendous difficulty in operating dexterous powered prostheses. Previous work has shown that aspects of prosthetic hand, wrist, or elbow control can be improved through "intelligent" control, by combining…
Tried-and-true flapping wing robot simulation is essential in developing flapping wing mechanisms and algorithms. This paper presents a novel application-oriented flapping wing platform, highly compatible with various mechanical designs and…
Tactile sensors have long been valued for their perceptual capabilities, offering rich insights into the otherwise hidden interface between the robot and grasped objects. Yet their inherent compliance -- a key driver of force-rich…
Robot-assisted dressing offers an opportunity to benefit the lives of many people with disabilities, such as some older adults. However, robots currently lack common sense about the physical implications of their actions on people. The…