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Soft robotic systems are known for their flexibility and adaptability, but traditional physics-based models struggle to capture their complex, nonlinear behaviors. This study explores a data-driven approach to modeling the…
Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes…
This paper investigates the influence of the internal geometrical structure of soft pneu-nets on the dynamic response and hysteresis of the actuators. The research findings indicate that by strategically manipulating the stress distribution…
Compared to traditional rigid robotics, soft robotics has attracted increasing attention due to its advantages as compliance, safety, and low cost. As an essential part of soft robotics, the soft robotic gripper also shows its superior…
Robotic systems are increasingly relying on distributed feedback controllers to tackle complex and latency-prone sensing and decision problems. These demands come at the cost of a growing computational burden and, as a result, larger…
Soft robots are robotic systems made of deformable materials and exhibit unique flexibility that can be exploited for complex environments and tasks. However, their control problem has been considered a challenging subject because they are…
This article presents a novel SOFA based finite element method for the soft body modeling and the corresponding dynamic simulation and control of a pneumatic morphing soft quadrotor. The proposed modeling preserves the physical…
Macroscale robotic systems have demonstrated great capabilities of high speed, precise, and agile functions. However, the ability of soft robots to perform complex tasks, especially in centimeter and millimeter scale, remains limited due to…
Nonlinear stiffness SEAs (NSEAs) inspired by biological muscles offer promise in achieving adaptable stiffness for assistive robots. While assistive robots are often designed and compared based on torque capability and control bandwidth,…
This paper presents a novel actuator system combining a twisted string actuator (TSA) with a winch mechanism. Relative to traditional hydraulic and pneumatic systems in robotics, TSAs are compact and lightweight but face limitations in…
The research aims to expand tactile feedback beyond vibrations to various modes of stimuli, such as indentation, vibration, among others. By incorporating soft material into the design of a novel tactile actuator, we can achieve…
Numerous soft actuators based on PneuNet design have already been proposed and extensively employed across various soft robotics applications in recent years. Despite their widespread use, a common limitation of most existing designs is…
Soft robots can exhibit better performance in specific tasks compared to conventional robots, particularly in healthcare-related tasks. However, the field of soft robotics is still young, and designing them often involves mimicking natural…
Soft robotic manipulators are attractive for a range of applications such as medical interventions or industrial inspections in confined environments. A myriad of soft robotic manipulators have been proposed in the literature, but their…
Underwater robotics has advanced significantly over recent decades. however, the development of miniaturized underwater robots remains limited by low energy densities of traditional power sources. Nature offers compelling…
Series elastic actuators (SEA) are playing an increasingly important role in the fields of physical human-robot interaction. This paper focuses on the modeling and control of a cable-driven SEA. First, the scheme of the cable-driven SEA has…
Soft growing robots are novel devices that mimic plant-like growth for navigation in cluttered or dangerous environments. Their ability to adapt to surroundings, combined with advancements in actuation and manufacturing technologies, allows…
Soft robots have demonstrated superior flexibility and functionality than conventional rigid robots. These versatile devices can respond to a wide range of external stimuli (including light, magnetic field, heat, electric field, etc.), and…
In medical-related tasks, soft robots can perform better than conventional robots because of their compliant building materials and the movements they are able perform. However, designing soft robot controllers is not an easy task, due to…
Recently, soft actuator-based exosuits have gained interest, due to their high strength-to-weight ratio, inherent safety, and low cost. We present a novel wrist exosuit actuated by fabric pneumatic artificial muscles that has lightweight…