Related papers: An Inverting-Tube Clutching Contractile Soft Pneum…
Many technologies have been developed in recent years to present audiovisual information in new ways, but developing an information presentation interface to convey tactile information is still a challenge. We propose a tactile device using…
For lower limb amputees, an active ankle joint prosthesis can provide basic mobility functions. This study focuses on an ankle joint prosthesis system based on the principle of electric-hydraulic actuation. By analyzing the characteristics…
We present a numerical study on clapping propulsion using a body consisting of two rigid plates hinged at one end, with a 60-degree interplate cavity. The closing of the cavity generates a thrust-producing jet. Our previous experimental…
In this work, we introduce an advanced thermo-active variable impedance module which builds upon our previous innovation in thermal-based impedance adjustment for actuation systems. Our initial design harnessed the temperature-responsive,…
Tendon-actuated concentric tube mechanisms combine the advantages of tendon-driven continuum robots and concentric tube robots while addressing their respective limitations. They overcome the restricted degrees of freedom often seen in…
Manipulating fragile deformable containers, such as disposable plastic cups filled with liquid, demands real-time grip-force adaptation within an extremely narrow force margin: insufficient force causes slip, while excessive force…
A composite porous polymer membrane with aligned CNTs in its matrix is developed which exhibits programmable, anisotropic actuation towards organic vapors. The alignment of CNTs in multiple directions and the gradient porous structure of…
Wearable robots are limited by their actuators performances because they must bear the weight of their own power system and energy source. This paper explores the idea of leveraging hybrid modes to meet multiple operating points with a…
The apparently intractable shape of a fold in a compressed elastic film lying on a fluid substrate is found to have an exact solution. Such systems buckle at a nonzero wavevector set by the bending stiffness of the film and the weight of…
It is known that an object translating parallel to a soft wall in a viscous fluid produces hydro- dynamic stresses that deform the wall, which, in turn, results in a lift force on the object. Recent experiments with cylinders sliding under…
Soft modular robots enable more flexibility and safer interaction with the changing environment than traditional robots. However, it has remained challenging to create deformable connectors that can be integrated into soft machines. In this…
This paper presents a novel multi-axis force-sensing approach in robotic minimally invasive surgery with no modification to the surgical instrument. Thus, it is adaptable to different surgical instruments. A novel 6-axis optical force…
Wearable fingertip haptic devices are critical for realistic interaction in virtual reality, augmented reality, and teleoperation, yet existing approaches struggle to simultaneously achieve adequate tactile output, low mass, simple…
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…
The mechanical stability of open single wall carbon nanotubes (SWCNT) under axial stress (compression and tension) and twist has been re-examined in a search of specific tube-length and load scaling. SWCNT with different chiralities and…
Magnetically-anchored surgical devices have recently gained attention in abdominal surgery, with the use of magnets to anchor surgical devices onto the insufflated abdominal wall. These anchors have been used to secure passive and active…
This paper presents results about fabrication and operation of electrostatic actuators in liquids with various permittivities. In the static mode, we provide experimental and theoretical demonstration that the pull-in effect can be shifted…
Series Elastic Actuators provide many benefits in force control of robots in unconstrained environments. These benefits include high force fidelity, extremely low impedance, low friction, and good force control bandwidth. Series Elastic…
Our system introduces a modularized pneumatic actuating unit capable of delivering vibration, pressure, and impact feedback. Designed for adaptability, these modular tactile actuating units can be rapidly customized and reconfigured to suit…
This paper deals with the simultaneous gust and maneuver load alleviation problem of a seamless active morphing wing. The incremental nonlinear dynamic inversion with quadratic programming control allocation and virtual shape functions…