Related papers: Origami-inspired soft twisting actuator
This paper presents the design and dynamic modelling of a soft pneumatic actuator that can be used to mimic snake or worm-like locomotion. The bond graph technique is used to derive the dynamics of the actuator. To validate the accuracy of…
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…
A key challenge in robotics is to create efficient methods for grasping objects with diverse shapes, sizes, poses, and properties. Grasping with hand-like end effectors often requires careful selection of hand orientation and finger…
Inspired by the dexterous handling ability of an elephant's trunk, we propose a pneumatic actuator that generates diverse bending and extension motions in a flexible arm. The actuator consists of two flexible tubes. Each flexible tube is…
Origami has recently emerged as a platform for building functional engineering systems with versatile characteristics that targeted niche applications. One widely utilized origami-based structure is known as the Kresling origami spring…
The nonlinear mechanical response of soft materials and slender structures is purposefully harnessed to program functions by design in soft robotic actuators, such as sequencing, amplified response, fast energy release, etc. However,…
Robotic grasping and manipulation in underwater environments present unique challenges for robotic hands traditionally used on land. These challenges stem from dynamic water conditions, a wide range of object properties from soft to stiff,…
Soft robots have found extensive applications in the medical field, particularly in rehabilitation exercises, assisted grasping, and artificial organs. Despite significant advancements in simulating various components of the digestive…
Kirigami offers unique opportunities for guided morphing by leveraging the geometry of the cuts. This work presents inflatable kirigami crawlers created by introducing cut patterns into heat-sealable textiles to achieve locomotion upon…
Grasping a variety of objects remains a key challenge in the development of versatile robotic systems. The human hand is remarkably dexterous, capable of grasping and manipulating objects with diverse shapes, mechanical properties, and…
To design a general-purpose assembly robot system that can handle objects of various shapes, we propose a soft jig that fits to the shapes of assembly parts. The functionality of the soft jig is based on a jamming gripper developed in the…
Bilayer bending based soft actuators are widely utilized in soft robotics for locomotion and object gripping. However, studies on soft actuators based on bilayer doming remain largely unexplored despite the often-observed dome-like shapes…
Object manipulation is a fundamental challenge in robotics, where systems must balance trade-offs among manipulation capabilities, system complexity, and throughput. Distributed manipulator systems (DMS) use the coordinated motion of…
Recently, soft actuator-based exosuits have gained interest, due to their high strength-to-weight ratio, inherent safety, and low cost. We present a novel wrist exosuit actuated by fabric pneumatic artificial muscles that has lightweight…
Origami-inspired robots offer rapid, accessible design and manufacture with diverse functionalities. In particular, origami robots without conventional electronics have the unique advantage of functioning in extreme environments such as…
Simulating deformable objects under rich interactions remains a fundamental challenge for real-to-sim robot manipulation, with dynamics jointly driven by environmental effects and robot actions. Existing simulators rely on predefined…
Grasping object,whether they are flat, round, or narrow and whether they have regular or irregular shapes,introduces difficulties in determining the ideal grasping posture, even for the most state-of-the-art grippers. In this article, we…
Due to their inherent compliance, soft robots are more versatile than rigid linked robots when they interact with their environment, such as object manipulation or biomimetic motion, and considered the key element in introducing robots to…
Soft robotic hands and grippers are increasingly attracting attention as a robotic end-effector. Compared with rigid counterparts, they are safer for human-robot and environment-robot interactions, easier to control, lower cost and weight,…
Hand-wearable robots, specifically exoskeletons, are designed to aid hands in daily activities, playing a crucial role in post-stroke rehabilitation and assisting the elderly. Our contribution to this field is a textile robotic glove with…