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Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, but their precise control remains challenging. In contrast,…
Flexible robots have advantages over rigid robots in their ability to conform physically to their environment and to form a wide variety of shapes. Sensing the force applied by or to flexible robots is useful for both navigation and…
This paper presents a toolkit for rapid harness prototyping. These wearable structures attach vibrotactile actuators to the body using modular elements like 3D printed joints, laser cut or vinyl cutter-based sheets and magnetic clasps. This…
This paper presents the design, control, and applications of a multi-segment soft robotic arm. In order to design a soft arm with large load capacity, several design principles are proposed by analyzing two kinds of buckling issues, under…
Robots built from soft materials can alter their shape and size in a particular profile. This shape-changing ability could be extremely helpful for rescue robots and those operating in unknown terrains and environments. In changing shape,…
Electric prosthetic hands should be lightweight to decrease the burden on the user, shaped like human hands for cosmetic purposes, and have motors inside to protect them from damage and dirt. In addition to the ability to perform daily…
Dexterous in-hand manipulation is a peculiar and useful human skill. This ability requires the coordination of many senses and hand motion to adhere to many constraints. These constraints vary and can be influenced by the object…
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…
Complex and contact-rich robotic manipulation tasks, particularly those that involve multi-fingered hands and underactuated object manipulation, present a significant challenge to any control method. Methods based on reinforcement learning…
This paper presents a sensorized vision-enabled prosthetic hand aimed at replicating a natural hand's performance, functionality, appearance, and comfort. The design goal was to create an accessible substitution with a user-friendly…
Soft robots are naturally designed to perform safe interactions with their environment, like locomotion and manipulation. In the literature, there are now many concepts, often bio-inspired, to propose new modes of locomotion or grasping.…
This paper presents a design methodology of a hydraulically-driven soft robotic gripper for grasping a large and heavy object -- approximately 10 - 20 kg with 20 - 30 cm diameter. Most existing soft grippers are pneumatically actuated with…
We present a computational design system that assists users to model, optimize, and fabricate quad-robots with soft skins.Our system addresses the challenging task of predicting their physical behavior by fully integrating the multibody…
Soft robots offer more flexibility, compliance, and adaptability than traditional rigid robots. They are also typically lighter and cheaper to manufacture. However, their use in real-world applications is limited due to modeling challenges…
In the context of imitation learning applied to dexterous robotic hands, the high complexity of the systems makes learning complex manipulation tasks challenging. However, the numerous datasets depicting human hands in various different…
Laminate mechanisms are a reliable concept in producing lowcost robots for educational and commercial purposes. These mechanisms are produced using low-cost manufacturing techniques which have improved significantly during recent years and…
Recent advances in dexterous grasping synthesis have demonstrated significant progress in producing reasonable and plausible grasps for many task purposes. But it remains challenging to generalize to unseen object categories and diverse…
Soft robotic hand shows considerable promise for various grasping applications. However, the sensing and reconstruction of the robot pose will cause limitation during the design and fabrication. In this work, we present a novel 3D pose…
Additive manufacturing brings a variety of new possibilities to the construction industry, extending the capabilities of existing fabrication methods whilst also creating new possibilities. Currently three-dimensional printing is used to…
Achieving human-like dexterous robotic manipulation remains a central goal and a pivotal challenge in robotics. The development of Artificial Intelligence (AI) has allowed rapid progress in robotic manipulation. This survey summarizes the…