Related papers: An Inverting-Tube Clutching Contractile Soft Pneum…
A simple method to increase the flow power extraction efficiency of a circular cylinder, undergoing vortex-induced vibration (VIV), by confining it between two parallel plates is proposed. A two-dimensional numerical study was performed on…
Soft robots are promising for manipulation tasks thanks to their compliance, safety, and high degree of freedom. However, the commonly used bidirectional continuum segment design means soft robotic manipulators only function in a limited…
As soft continuum manipulators characterize terrific compliance and maneuverability in narrow unstructured space, low stiffness and limited dexterity are two obvious shortcomings in practical applications. To address the issues, a novel…
In this paper, we investigate both experimentally and theoretically the dynamics of a liquid plug driven by a cyclic periodic forcing inside a cylindrical rigid capillary tube. First, it is shown that depending on the type of forcing (flow…
We study theoretically the surface of a topological insulator with a sliding magnetic superlattice coated above. By analyzing time-dependent Dirac equations, the dynamics of the zero mode is investigated. When the superlattice's sliding…
Kirigami offers unique opportunities for guided morphing by leveraging the geometry of the cuts. This work presents inflatable kirigami crawlers created by introducing cut patterns into heat-sealable textiles to achieve locomotion upon…
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…
This paper presents the design and assessment of a fabric-based soft pneumatic actuator with low pressurization requirements for actuation making it suitable for upper extremity assistive devices for infants. The goal is to support shoulder…
Hand-wearable robots, specifically exoskeletons, are designed to aid hands in daily activities, playing a crucial role in post-stroke rehabilitation and assisting the elderly. Our contribution to this field is a textile robotic glove with…
Variable stiffness actuator (VSA) designs are manifold. Conventional model-based control of these nonlinear systems is associated with high effort and design-dependent assumptions. In contrast, machine learning offers a promising…
Flexible transmission line impedances on one hand are a promising control resource for facilitating grid flexibility, but on the other hand add much complexity to the concerned optimization problems. This paper develops a convexification…
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…
Soft robotics is an attractive and rapidly emerging field, in which actuation is coupled with the elastic response of the robot's structure to achieve complex deformation patterns. A crucial challenge is the need for multiple control…
Pneumatic soft robots are typically fabricated by molding, a manual fabrication process that requires skilled labor. Additive manufacturing has the potential to break this limitation and speed up the fabrication process but struggles with…
Grasping object,whether they are flat, round, or narrow and whether they have regular or irregular shapes,introduces difficulties in determining the ideal grasping posture, even for the most state-of-the-art grippers. In this article, we…
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…
Lightweight, durable textile-based inflatable soft actuators are widely used in soft robotics, particularly for wearable robots in rehabilitation and in enhancing human performance in demanding jobs. Fabricating these actuators typically…
Soft underwater robots typically explore bioinspired designs at the expense of power efficiency when compared to traditional underwater robots, which limits their practical use in real-world applications. We leverage a fluidic closed-loop…
Described is a device acting on an acoustically levitated object by manipulating the pressure and flow of a thin layer of air such that its rotation can be precisely controlled without mechanical contact. Virtual work analysis assists in…
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…