Related papers: Anthropomorphic Twisted String-Actuated Soft Robot…

Teleoperation is often limited by the ability of an operator to react and predict the behavior of the robot as it interacts with the environment. For example, to grasp small objects on a table, the teleoperator needs to predict the position…

Handling oversized, variable-shaped, or delicate objects in transportation, grasping tasks is extremely challenging, mainly due to the limitations of the gripper's shape and size. This paper proposes a novel gripper, Lasso Gripper. Inspired…

Soft robotic grippers demonstrate great potential for gently and safely handling objects; however, their full potential for executing precise and secure grasping has been limited by the lack of integrated sensors, leading to problems such…

The purpose of this research is to design, fabricate and test a tendon driven a continuum soft robot with three modular segments, each of which has a tunable stiffness enabled by layer jamming technology. Compared with previous studies, the…

This study presents an innovative approach to optimal gait control for a soft quadruped robot enabled by four Compressible Tendon-driven Soft Actuators (CTSAs). Improving our previous studies of using model-free reinforcement learning for…

Twisted string actuators (TSAs) have exhibited great promise in robotic applications by generating high translational force with low input torque. To further facilitate their robotic applications, it is strongly desirable but challenging to…

Novel robotic grippers have captured increasing interests recently because of their abilities to adapt to varieties of circumstances and their powerful functionalities. Differing from traditional gripper with mechanical components-made…

Soft robots have a myriad of potentials because of their intrinsically compliant bodies, enabling safe interactions with humans and adaptability to unpredictable environments. However, most of them have limited actuation speeds, require…

Quadruped robots are increasingly used in various applications due to their high mobility and ability to operate in diverse terrains. However, most available quadruped robots are primarily focused on mobility without object manipulation…

Operating robots precisely and at high speeds has been a long-standing goal of robotics research. Balancing these competing demands is key to enabling the seamless collaboration of robots and humans and increasing task performance. However,…

Aerial Manipulator Systems (AMS) have garnered significant interest for their utility in aerial operations. Nonetheless, challenges related to the manipulator's limited stiffness and the coupling disturbance with manipulator movement…

In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's…

Variable stiffness actuator (VSA) designs are manifold. Conventional model-based control of these nonlinear systems is associated with high effort and design-dependent assumptions. In contrast, machine learning offers a promising…

We present the design, implementation, and experimental evaluation of a low-cost, customizable, easy-to-use transradial hand prosthesis capable of adapting its compliance. Variable stiffness actuation (VSA) of the prosthesis is based on…

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…

Hand impairment following neurological disorders substantially limits independence in activities of daily living, motivating the development of effective assistive and rehabilitation strategies. Soft robotic gloves have attracted growing…

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…

An autonomous robotic nut tightening system for a serial manipulator equipped with a parallel gripper is proposed. The system features a hierarchical motion-primitive-based planner and a control-switching scheme that alternates between…

Soft robots have struggled to support large forces and moments while also supporting their own weight against gravity. This limits their ability to reach certain configurations necessary for tasks such as inspection and pushing objects up.…

A challenging and important problem for tendon-driven multi-fingered robotic hands is to ensure grasping adaptivity while minimizing the number of actuators needed to provide human-like functionality. Inspired by the Pisa/IIT SoftHand, this…