Related papers: Hybrid Actuator Design for a Gait Augmentation Wea…
Precise modeling soft robots remains a challenge due to their infinite-dimensional nature governed by partial differential equations. This paper introduces an innovative approach for modeling soft pneumatic actuators, employing a nonlinear…
Gait generation for soft robots is challenging due to the nonlinear dynamics and high dimensional input spaces of soft actuators. Limitations in soft robotic control and perception force researchers to hand-craft open loop controllers for…
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…
Soft pneumatic actuators with integrated strain limiting layers have emerged as predominant components in the field of soft gripper technology for several decades. However, owing to their intrinsic strain-limiting layer design, these soft…
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…
This report presents research conducted on amplified self-healing electrostatic (HASEL) actuators. HASEL actuators are comprised of a dielectric fluid sealed between two inextensible layers with bonded, flexible electrodes on its outer…
Soft robotic manipulators are attractive for a range of applications such as medical interventions or industrial inspections in confined environments. A myriad of soft robotic manipulators have been proposed in the literature, but their…
The study of elastic structures embedded with fluid-filled cavities received considerable attention in fields such as autonomous materials, sensors, actuators, and smart systems. This work studies an elastic beam embedded with a set of…
This paper presents a compact system, OpenPneu, to support the pneumatic actuation for multi-chambers on soft robots. Micro-pumps are employed in the system to generate airflow and therefore no extra input as compressed air is needed. Our…
In this paper, a novel fully 3D, microfluidic-oriented, gel-based, and low-cost highly stretchable resistive sensors have been presented. By the proposed method we are able to measure and discriminate all of the stretch, twist, and pressure…
Rigid robots can be precise in repetitive tasks, but struggle in unstructured environments. Nature's versatility in such environments inspires researchers to develop biomimetic robots that incorporate compliant and contracting artificial…
Inspired by recent experimental observations of a harmonically excited elastic foil hovering near a wall while supporting substantial weight, we develop a theoretical framework that describes the underlying physical effects. Using…
This paper present a novel dual-speed actuator adapted to robotics. In many applications, robots have to bear large loads while moving slowly and also have to move quickly through the air with almost no load. This lead to conflicting…
We propose a novel three-way coupling method to model the contact interaction between solid and fluid driven by strong surface tension. At the heart of our physical model is a thin liquid membrane that simultaneously couples to both the…
Elastohydrodynamic lubrication, or simply soft lubrication, refers to the motion of deformable objects near a boundary lubricated by a fluid, and is one of the key physical mechanisms to minimise friction and wear in natural and engineered…
Soft grippers, with their inherent compliance and adaptability, show advantages for delicate and versatile manipulation tasks in robotics. This paper presents a novel approach to underactuated control of multiple soft actuators, explicitly…
ADROIT Manipulation platform is a pneumatically actuated, tendon driven 28 degree of freedom platform being developed for investigating complex hand manipulation behaviors. ADROIT derives its unique capabilities, necessary to support…
This paper presents a motion analysis framework for an athlete wearing sport-specific flexible prosthesis based on the soft-rigid hybrid-link system. Such a motion analysis is a challenging problem because we need to consider the…
For full-body wireless power transfer (WPT), a liquid metal (LM)-based meandered textile coil has been proposed. Multiple rigid capacitors must be inserted in a long coil for efficiency; however, the conventional adhesive jointing suffers…
This work focuses on closed-loop control based on proprioceptive feedback for a pneumatically-actuated soft wearable device aimed at future support of infant reaching tasks. The device comprises two soft pneumatic actuators (one…