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In this project, we focus on human-robot interaction in caregiving scenarios like bathing, where physical contact is inevitable and necessary for proper task execution because force must be applied to the skin. Using finite element…

A problem that plagues robotic grasping is the misalignment of the object and gripper due to difficulties in precise localization, actuation, etc. Under-actuated robotic hands with compliant mechanisms are used to adapt and compensate for…

In the robotic crop harvesting environment, foreign objects intrusion in the gripper workspace is frequently occurring and unignorable, however, rarely addressed. This paper presents a novel intelligent robotic grasping method capable of…

Multi-suction-cup grippers are frequently employed to perform pick-and-place robotic tasks, especially in industrial settings where grasping a wide range of light to heavy objects in limited amounts of time is a common requirement. However,…

Soft adhesive contacts are ubiquitous in nature and are increasingly used in synthetic systems, such as flexible electronics and soft robots, due to their advantages over traditional joining techniques. While methods to study the failure of…

Soft robotics is an emerging field of research where the robot body is composed of compliant and soft materials. It allows the body to bend, twist, and deform to move or to adapt its shape to the environment for grasping, all of which are…

Unlike dry granular materials, a dense granular suspension like cornstarch in water can strongly resist extensional flows. At low extension rates, such a suspension behaves like a viscous liquid, but rapid extension results in a response…

This study presents an innovative offset-trimmed helicoids (OTH) structure, featuring a tunable deformation center that emulates the flexibility of human fingers. This design significantly reduces the actuation force needed for larger…

Soft robots are inherently compliant and have a strong potential to realize human-friendly and safe robots. Despite continued research highlighting the potential of soft robots, they remain largely confined to laboratory settings. In this…

Robotic manipulation of deformable and fragile objects presents significant challenges, as excessive stress can lead to irreversible damage to the object. While existing solutions rely on accurate object models or specialized sensors and…

Robotic grippers are the end effector in the robot system of handling any task which used for performing various operations for the purpose of industrial application and hazardous tasks.In this paper, we developed the mathematical model for…

Wearable electronics are emerging as essential tools for health monitoring, haptic feedback, and human-computer interactions. While stable contact at the device-body interface is critical for these applications, it remains challenging due…

Organisms in nature, such as Cephalopods and Pachyderms, exploit stiffness modulation to achieve amazing dexterity in the control of their appendages. In this paper, we explore the phenomenon of layer jamming, which is a popular stiffness…

Mechanical compliance is a key design parameter for dynamic contact-rich manipulation, affecting task success and safety robustness over contact geometry variation. Design of soft robotic structures, such as compliant fingers, requires…

We study experimentally the fracture mechanisms of a model cohesive granular medium consisting of glass beads held together by solidified polymer bridges. The elastic response of this material can be controlled by changing the cross-linking…

Surgeons normally need surgical scissors and tissue grippers to cut through a deformable surgical tissue. The cutting accuracy depends on the skills to manipulate these two tools. Such skills are part of basic surgical skills training as in…

Aerial transportation requires a simple yet reliable gripper for picking and placing objects of interest. In this work, we design an aerial gripper for passive grasping and impulsive release of ferrous coated objects. Permanent magnets are…

Robotic manipulators capable of regulating both compliance and stiffness offer enhanced operational safety and versatility. Here, we introduce Worm Gear-based Adaptive Variable Elasticity (WAVE), a variable stiffness actuator (VSA) that…

In our daily life, we often encounter objects that are fragile and can be damaged by excessive grasping force, such as fruits. For these objects, it is paramount to grasp gently -- not using the maximum amount of force possible, but rather…

We propose a mechanically simple and cheap design for a series elastic actuator with controllable stiffness. Such characteristics are necessary for animals for running, jumping, throwing, and manipulation, yet in robots, variable stiffness…