Related papers: An Inverting-Tube Clutching Contractile Soft Pneum…
Inflatable structures used in soft robotics applications exhibit unique characteristics. In particular, the tip-extension structure, which grows from the tip, can grow without friction against the environment. However, these inflatable…
This paper presents modeling of a compliant 2D manipulator, a so called soft hydraulic/fluidic elastomer actuator. Our focus is on fiber-Reinforced Fluidic Elastomer Actuators (RFEA) driven by a constant pressure hydraulic supply and…
Stable aerial manipulation during dynamic tasks such as object catching, perching, or contact with rigid surfaces necessarily requires compliant behavior, which is often achieved via impedance control. Successful manipulation depends on how…
This paper proposed a novel fully-actuated hexacopter. It features a dual-frame passive tilting structure and achieves independent control of translational motion and attitude with minimal actuators. Compared to previous fully-actuated…
Position control devices enable precise selection, but significant clutching degrades performance. Clutching can be reduced with high control-display gain or pointer acceleration, but there are human and device limits. Elastic rate control…
Soft actuators are receiving increasing attention from the engineering community, not only in research but even for industrial applications. Among soft actuators, fibre-reinforced Bending Fluidic Actuators (BFAs) became very popular thanks…
This paper presents the analytic modeling of mobile heavy-duty manipulators with actively articulated suspension and its optimal control to maximize its static and dynamic stabilization. By adopting the screw theory formalism, we consider…
We present a self-contained, soft robotic hand composed of soft pneumatic actuator modules that are equipped with strain and pressure sensing. We show how this data can be used to discern whether a grasp was successful. Co-locating sensing…
There is a growing need for robots that can change their shape, size and mechanical properties to adapt to evolving tasks and environments. However, current shape-changing systems generally utilize bespoke, system-specific mechanisms that…
Stroke-induced motor impairment often results in substantial loss of upper-limb function, creating a strong demand for rehabilitation robots that enable safe and transparent physical human-robot interaction (pHRI). Variable stiffness…
This paper discusses and contests the claims of ``Soft Pneumatic Actuator Fascicles for High Force and Reliability'' a research article which was originally published in the March 2017 issue of the Journal Soft Robotics. The original paper…
This work presents a stochastic tube-based model predictive control framework that guarantees hard input constraint satisfaction for linear systems subject to unbounded additive disturbances. The approach relies on a structured design of…
This paper expounds the design and control of a new Variable Stiffness Series Elastic Actuator (VSSEA). It is established by employing a modular mechanical design approach that allows us to effectively optimise the stiffness modulation…
This paper presents a novel fabric-based thermal-haptic interface for virtual reality and teleoperation. It integrates pneumatic actuation and conductive fabric with an innovative ultra-lightweight design, achieving only 2~g for each finger…
Design of robotic systems that safely and efficiently operate in uncertain operational conditions, such as rehabilitation and physical assistance robots, remains an important challenge in the field. Current methods for the design of energy…
This paper presents a novel, modular, cable-driven soft robotic arm featuring multi-segment reconfigurability. The proposed architecture enables a stackable system with independent segment control, allowing scalable adaptation to diverse…
Soft robots have found extensive applications in the medical field, particularly in rehabilitation exercises, assisted grasping, and artificial organs. Despite significant advancements in simulating various components of the digestive…
Soft robotics is advancing the use of flexible materials for adaptable robotic systems. Membrane-actuated soft robots address the limitations of traditional soft robots by using pressurized, extensible membranes to achieve stable, large…
The intakes of air-breathing high-speed flying vehicles produce a large share of the thrust propulsion. Furthermore, the propulsion performance of these engines increases when the single-ramp intake is replaced with a multiple-ramps intake.…
Ionic polymer actuators, in essence, consist of ion exchange polymers sandwiched between layers of electrodes. They have recently gained recognition as promising candidates for soft actuators due to their lightweight nature, noise-free…