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Dielectric barrier discharge (DBD) plasma actuator arrays have been suggested as active flow control devices due to the robust electrohydrodynamic (EHD) force generation in variable atmospheric conditions. DBD plasma augmentation schemes…
The nonlinear mechanical response of soft materials and slender structures is purposefully harnessed to program functions by design in soft robotic actuators, such as sequencing, amplified response, fast energy release, etc. However,…
Vacuum-forming is a common manufacturing technique for constructing thin plastic shell products by pressing heated plastic sheets onto a mold using atmospheric pressure. Vacuum-forming is ubiquitous in packaging and casing products in…
This work outlines a new multi-physics-compatible immersed rigid body method for Eulerian finite-volume simulations. To achieve this, rigid bodies are represented as a diffuse scalar field and an interface seeding method is employed to…
Diffusion models show promise for 3D molecular generation, but face a fundamental trade-off between sampling efficiency and conformational accuracy. While flow-based models are fast, they often produce geometrically inaccurate structures,…
Inflated-beam soft robots, such as tip-everting vine robots, can control curvature by contracting one beam side via pneumatic actuation. This work develops a general finite element modeling approach to characterize their bending. The model…
To increase the awareness and impact, soft robotics needs to go beyond the lab environment and should be readily accessible to those even with no robotic expertise. However, most prevailing manufacturing methodologies require either…
With 3D Gaussian Splatting (3DGS) advancing real-time and high-fidelity rendering for novel view synthesis, storage requirements pose challenges for their widespread adoption. Although various compression techniques have been proposed,…
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…
Precise manipulation of shape-morphing responsive materials is crucial for applications in soft robotics and adaptive structures. While notable precision has been achieved in thin two-dimensional sheets, an accurate volumetric…
Electrostatic actuators provide a promising approach to creating soft robotic sheets, due to their flexible form factor, modular integration, and fast response speed. However, their control requires kilo-Volt signals and understanding of…
In the application of underwater creature study, comparing with propeller-powered ROVs and servo motor actuated robotic fish, novel biomimetic fish robot designs with soft actuation structure could interact with aquatic creatures closely…
Dielectric elastomer actuators have become one of the most important smart material transducers in recent times. One of the crucial aspects in this field is the application of bias to find the best operating conditions. The basic task is to…
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…
The Finite Element Method (FEM) is a powerful modeling tool for predicting soft robots' behavior, but its computation time can limit practical applications. In this paper, a learning-based approach based on condensation of the FEM model is…
Since soft robotics are composed of compliant materials, they perform better than conventional rigid robotics in specific fields, such as medical applications. However, the field of soft robotics is fairly new, and the design process of…
The study of elastic structures embedded with fluid-filled cavities received considerable attention in fields such as autonomous materials, sensors, actuators, and smart systems. This work studies an elastic beam embedded with a set of…
This study aims at finding a method for constructing molecular dynamics like models using the formalism of cellular automata for fast simulation of fluid dynamic systems (including compressible phenomena). In as much as the results…
The finite element method (FEM) is among the most commonly used numerical methods for solving engineering problems. Due to its computational cost, various ideas have been introduced to reduce computation times, such as domain decomposition,…
In this methods paper, we explore the capabilities of high-speed ultrasound imaging (USI) to study fast varying and complex multi-phase structures in liquids and soft materials. Specifically, we assess the advantages and the limitations of…