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We propose that ballooning can be controlled, enriched and amplified by using rubbery networks of aligned molecular rods known as liquid crystal elastomers (LCEs). Firstly, LCEs are promising artificial muscles, showing large spontaneous…
This paper presents an interaction control algorithm for a dielectric elastomer membrane actuator. The proposed method permits efficient exploitation of the controllable stiffness of the material, allowing to use the membrane as a…
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…
The shoulder is responsible for the movement of the entire upper limb. It is capable of articulating in three degrees-of-freedom (DOF), enabling the arm to perform manipulation actions with incomparable dexterity. Exoskeletons targeting the…
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…
In a companion article (Part 1), we presented the development of a thick continuum-based (CB) shell finite element (FE) based on Mindlin-Reissner theory. We verified the accuracy, efficiency and locking insensitivity of the element in…
We propose a method for constructing high-quality, closed-surface meshes from confined 3D point clouds via a physically-based simulation of flexible foils under spatial constraints. The approach integrates dynamic elasticity,…
Computational modelling offers a cost-effective and time-efficient alternative to experimental studies in biomedical engineering. In cardiac electro-mechanics, finite element method (FEM)-based simulations provide valuable insights into…
This research introduces a new drop fluidics, which uses a deformable and stretchable elastomeric film as the platform, instead of the commonly used rigid supports. Such a soft film impregnated with magnetic particles can be modulated with…
Soft robotics has emerged as a promising field with the potential to revolutionize industries such as healthcare and manufacturing. However, designing effective soft robots presents challenges, particularly in managing the complex interplay…
Pneumatic actuation benefits soft robotics by facilitating compliance, enabling large volume change, and concentrating actuator weight away from the end-effector. However, portability is compromised when pneumatic actuators are tethered to…
A leading concept in soft robotics actuation, as well as in microfluidics applications such as valves in lab-on-a-chip devices, is applying pressurized flow in cavities embedded within elastic bodies. Generating complex deformation patterns…
We present in this paper a rigorous theoretical framework to show stability, convergence and accuracy of improved edge-based and face-based smoothed finite element methods (bESFEM and bFS-FEM) for nearly-incompressible elasticity problems.…
Bilayer bending based soft actuators are widely utilized in soft robotics for locomotion and object gripping. However, studies on soft actuators based on bilayer doming remain largely unexplored despite the often-observed dome-like shapes…
While its biological significance is well-documented, its application in soft robotics, particularly for the transport of fragile and irregularly shaped objects, remains underexplored. This study presents a modular soft robotic actuator…
Soft robotic systems offer benefits over traditional rigid systems through reduced contact trauma with soft tissues and by enabling access through tortuous paths in minimally invasive surgery. However, the inherent deformability of soft…
In the domain of 3D content creation, achieving optimal mesh topology through AI models has long been a pursuit for 3D artists. Previous methods, such as MeshGPT, have explored the generation of ready-to-use 3D objects via mesh…
Fish locomotion is enabled by fin rays-actively deformable boney rods, which manipulate the fin to facilitate complex interaction with surrounding water and enable propulsion. Replicating the performance and kinematics of the biological fin…
Roboticists have been seeking to address this situation in recent years through the use of soft robots. Unfortunately, identifying appropriate models for the complete analysis and investigation of soft robots for design and control purposes…
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…