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Soft robotics is a rapidly growing field that spans the fields of chemistry, materials science, and engineering. Due to the diverse background of the field, there have been contrasting naming schemes such as 'intelligent', 'smart' and…
While much work has been done recently in the realm of model-based control of soft robots and soft-rigid hybrids, most works examine robots that have an inherently serial structure. While these systems have been prevalent in the literature,…
Soft robotic manipulators offer operational advantage due to their compliant and deformable structures. However, their inherently nonlinear dynamics presents substantial challenges. Traditional analytical methods often depend on simplifying…
Conformable robotic systems are attractive for applications in which they can be used to actuate structures with large surface areas, to provide forces through wearable garments, or to realize autonomous robotic systems. We present a new…
Due to their inherent compliance, soft robots are more versatile than rigid linked robots when they interact with their environment, such as object manipulation or biomimetic motion, and considered the key element in introducing robots to…
Intuitively, prostheses with user-controllable stiffness could mimic the intrinsic behavior of the human musculoskeletal system, promoting safe and natural interactions and task adaptability in real-world scenarios. However, prosthetic…
Classical rigid-bodied robotic systems are presented with proven success in theoretical development and industrial applications, are recently challenged by the emergence of soft robotics due to a growing need in physical human-robot…
Soft electrohydraulic actuators known as HASEL actuators have attracted widespread research interest due to their outstanding dynamic performance and high output power. However, the displacement of electrohydraulic actuators usually…
This paper proposes a unified robust motion controller for the position and force control problems of compliant robot manipulators driven by Series Elastic Actuators (SEAs). It is shown that the dynamic model of the compliant robot includes…
Natural organisms utilize distributed actuation through their musculoskeletal systems to adapt their gait for traversing diverse terrains or to morph their bodies for varied tasks. A longstanding challenge in robotics is to emulate this…
Soft robots are known for their ability to perform tasks with great adaptability, enabled by their distributed, non-uniform stiffness and actuation. Bending is the most fundamental motion for soft robot design, but creating robust, and…
Inspired by the vertebrate branch of the animal kingdom, articulated soft robots are robotic systems embedding elastic elements into a classic rigid (skeleton-like) structure. Leveraging on their bodies elasticity, soft robots promise to…
In this article, the control problem of one section pneumatically actuated soft robotic arm is investigated in detail. To date, extensive prior work has been done in soft robotics kinematics and dynamics modeling. Proper controller designs…
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…
Recent studies have demonstrated the immense potential of exploiting muscle actuator morphology for natural and robust movement -- in simulation. A validation on real robotic hardware is yet missing. In this study, we emulate muscle…
The morphology of a slender soft-robot can be modified by sensing its shape via sensors and exerting moments via actuators embedded along its body. The actuating moments required to morph these soft-robots to a desired shape are often…
Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unintended contact. However, these robots' applied forces result…
Fluid-driven elastomeric actuators (FEAs) are among the most popular actuators in the emerging field of soft robotics. Intrinsically compliant, with continuum of motion, large strokes, little friction, and high power-to-weight ratio, they…
Robots need lightweight legs for agile locomotion, and intrinsic series elastic compliance has proven to be a major ingredient for energy-efficient locomotion and robust locomotion control. Animals' anatomy and locomotion capabilities…
Developing kinesthetic haptic devices with advanced haptic rendering capabilities is challenging due to the limitations on driving mechanisms. In this study, we introduce a novel soft electrohydraulic actuator and develop a kinesthetic…