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We present a method for differentiable simulation of soft articulated bodies. Our work enables the integration of differentiable physical dynamics into gradient-based pipelines. We develop a top-down matrix assembly algorithm within…
Humans possess a remarkable ability to react to unpredictable perturbations through immediate mechanical responses, which harness the visco-elastic properties of muscles to maintain balance. Inspired by this behaviour, we propose a novel…
Recently, suction-based robotic systems with microscopic features or active suction components have been proposed to grip rough and irregular surfaces. However, sophisticated fabrication methods or complex control systems are required for…
Segmenting muscle compartments and measuring their architecture can facilitate movement function assessment, accurate musculoskeletal modeling, and synergy-based electromyogram simulation. Here, we presented a novel method for volumetric…
Object manipulation in robotics faces challenges due to diverse object shapes, sizes, and fragility. Gripper-based methods offer precision and low degrees of freedom (DOF) but the gripper limits the kind of objects to grasp. On the other…
Aquatic creatures exhibit remarkable adaptations of their body to efficiently interact with the surrounding fluid. The tight coupling between their morphology, motion, and the environment are highly complex but serves as a valuable example…
Torque and continuous rotation are fundamental methods of actuation and manipulation in rigid robots. Soft robot arms use soft materials and structures to mimic the passive compliance of biological arms that bend and extend. This use of…
Computational fluid dynamics (CFD) is a valuable tool for personalised, non-invasive evaluation of hemodynamics in arteries, but its complexity and time-consuming nature prohibit large-scale use in practice. Recently, the use of deep…
Modern robots embody power and precision control. Yet, as robots undertake tasks that apply forces on humans, this power brings risk of injury. Soft robotic actuators use deformation to produce smooth, continuous motions and conform to…
The design of physical compliance -- its location, degree, and structure -- affects robot performance and robustness in contact-rich tasks. While compliance is often used in the robot's joints, flange, or end-effector, this paper proposes…
Acoustic metamaterials offer exceptional control over wave propagation, but their potential remains unfulfilled due to fabrication constraints. Conventional processes yield mostly rigid, planar structures, whereas soft-matter alternatives…
Flexible electronics is an emerging field in many applications ranging from in vivo biomedical devices to wearable smart systems. The capability of conforming to curved surfaces opens the door to add electronic components to miniaturized…
Textile pneumatic actuators can provide useful wearable haptic feedback when embedded in gloves, armbands, and other smart garments. Here we investigate actuators fabricated from thermoplastic coated textiles. We measure the effects 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…
Shape-changing interfaces are promising for users to change the physical properties of common objects. However, prevailing approaches of actuation devices require either professional equipment or materials that are not commonly accessible…
An accurate, physically-based, and differentiable model of soft robots can unlock downstream applications in optimal control. The Finite Element Method (FEM) is an expressive approach for modeling highly deformable structures such as…
Soft biological tissues demonstrate strong time-dependent and strain-rate mechanical behavior, arising from their intrinsic visco-elasticity and fluid-solid interactions (especially at sufficiently large time scales). The time-dependent…
Soft robots have demonstrated superior flexibility and functionality than conventional rigid robots. These versatile devices can respond to a wide range of external stimuli (including light, magnetic field, heat, electric field, etc.), and…
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…
Soft machines display shape adaptation to external circumstances due to their intrinsic compliance. To achieve increasingly more responsive behaviors upon interactions without relying on centralized computation, embodying memory directly in…