Related papers: Fabric-based star soft robotic gripper
This letter proposes a novel single-fingered reconfigurable robotic gripper for grasping objects in narrow working spaces. The finger of the developed gripper realizes two configurations, namely, the insertion and grasping modes, using only…
Current rigid linkage grippers are limited in flexibility, and gripper design optimality relies on expertise, experiments, or arbitrary parameters. Our proposed rigid gripper can accommodate irregular and off-center objects through a…
The case of a conventional flexible sheet in a uniform flow has been of interest in understanding the underlying physics of passive coupled dynamics between a flexible structure and a flow field. Gravity is known to influence the flapping…
Robots' behavior and performance are determined both by hardware and software. The design process of robotic systems is a complex journey that involves multiple phases. Throughout this process, the aim is to tackle various criteria…
We develop two new continuum contact models for coupled adhesion and friction, and discuss them in the context of existing models proposed in the literature. Our new models are able to describe sliding friction even under tensile normal…
Although research studies in pneumatic soft robots develop rapidly, most pneumatic actuators are still controlled by rigid valves and conventional electronics. The existence of these rigid, electronic components sacrifices the compliance…
Human fingers achieve exceptional dexterity and adaptability by combining structures with varying stiffness levels, from soft tissues (low) to tendons and cartilage (medium) to bones (high). This paper explores developing a robotic finger…
Robotic grasping requires safe force interaction to prevent a grasped object from being damaged or slipping out of the hand. In this vein, this paper proposes an integrated framework for grasping with formal safety guarantees based on…
The human hand has an inherent ability to manipulate and re-orientate objects without external assistance. As a consequence, we are able to operate tools and perform an array of actions using just one hand, without having to continuously…
This article presents a new hand architecture with three under-actuated fingers. Each finger performs spatial movements to achieve more complex and varied grasping than the existing planar-movement fingers. The purpose of this hand is to…
Soft robotics is advancing the use of flexible materials for adaptable robotic systems. Membrane-actuated soft robots address the limitations of traditional soft robots by using pressurized, extensible membranes to achieve stable, large…
Granular grippers are highly adaptable end-effectors that exploit the reversible jamming transition of granular materials to hold and manipulate objects. Their holding force comes from the combination of three mechanisms: frictional forces,…
Energy absorbing materials, like foams used in protective equipment, are able to undergo large deformations under low stresses, reducing the incoming stress wave below an injury or damage threshold. They are typically effective in absorbing…
Compression of soft bodies is central to biology, materials science, and robotics, yet existing contact theories break down at large deformations. Here, we develop a general framework for soft-body compression by extending the method of…
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…
Inflated continuum robots are promising for a variety of navigation tasks, but controlling their motion with a small number of actuators is challenging. These inflated beam robots tend to buckle under compressive loads, producing extremely…
This paper presents a serial chain hinge support, a rigid but flexible structure that improves the mechanical performance and robustness of soft-fingered grippers. Gravity can reduce the integrity of soft fingers in horizontal approach,…
Snapping beams enable rapid geometric transitions through nonlinear instability, offering an efficient means of generating motion in soft robotic systems. In this study, a tendon-driven mechanism consisting of spiral-based metabeams was…
Soft pneumatic fingers are of great research interest. However, their significant potential is limited as most of them can generate only one motion, mostly bending. The conventional design of soft fingers does not allow them to switch to…
The global agri-food sector faces increasing challenges from labour shortages, high consumer demand, and supply-chain disruptions, resulting in substantial losses of unharvested produce. Robotic harvesting has emerged as a promising…