Related papers: 3D Printed Proprioceptive Soft Fluidic Actuators w…
New additive manufacturing methods are needed to realize more complex soft robots. One example is soft fluidic robotics, which exploits fluidic power and stiffness gradients. Porous structures are an interesting type for this approach, as…
Accurate shape sensing, only achievable through distributed proprioception, is a key requirement for closed-loop control of soft robots. Low-cost power efficient optoelectronic sensors manufactured from flexible materials represent a…
Conventional soft pneumatic actuators, typically based on hollow elastomeric chambers, often suffer from small structural support and require costly geometry-specific redesigns for multimodal functionality. Porous materials such as foam,…
As robotics advances toward integrating soft structures, anthropomorphic shapes, and complex tasks, soft and highly stretchable mechanotransducers are becoming essential. To reliably measure tactile and proprioceptive data while ensuring…
Sensorized insoles provide a tool for gait studies and health monitoring during daily life. For users to accept such insoles they need to be comfortable and lightweight. Previous work has already demonstrated that estimation of ground…
Aging populations and the rising prevalence of neurological and musculoskeletal disorders increase the demand for wearable mobility assistive devices that are effective, comfortable, and anatomically compatible. Many existing systems use…
Conformable robotic systems are attractive for applications in which they can be used to actuate structures with large surface areas, to provide forces through wearable garments, or to realize autonomous robotic systems. We present a new…
Additive manufacturing strives to combine any combination of materials into three dimensional functional structures and devices, ultimately opening up the possibility of 3D printed machines. It remains difficult to actuate such devices,…
Ionic polymer actuators, in essence, consist of ion exchange polymers sandwiched between layers of electrodes. They have recently gained recognition as promising candidates for soft actuators due to their lightweight nature, noise-free…
A new method is presented to manufacture piezoresistive tactile sensors using fused deposition modelling (FDM)printing technology with two different filaments made of thermoplastic polyurethane (TPU) and polylactic acid-graphene (PLA-G)…
This paper presents design, fabrication and control of a compliant 2D manipulator, a so called soft actuator. Our focus is on fiber-reinforced elastomer actuators driven by a constant pressure hydraulic supply and modulated on/off valves.…
This work presents a new fiberless soft pneumatic actuator that can work multifunctional and bidirectional, and its embedded sensors give it a self-proprioception ability. This actuator works based on the idea of employing helical pressure…
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…
We introduced a new concept for fabricating solvent stimulus polymer actuators with unprecedented sensitivity and accuracy. This was accomplished by integrating porous architectures and electrostatic complexation gradients in a poly(ionic…
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…
Capacitive technology allows building sensors that are small, compact and have high sensitivity. For this reason it has been widely adopted in robotics. In a previous work we presented a compliant skin system based on capacitive technology…
Classical rigid-bodied robotic systems are presented with proven success in theoretical development and industrial applications, are recently challenged by the emergence of soft robotics due to a growing need in physical human-robot…
Additive Manufacturing (AM) is a promising solution for handling the complexity of fabricating soft robots. However, the AM of hyperelastic materials is still challenging with a limited material range. Within this work, pellet-based 3D…
This paper presents a passive control method for multiple degrees of freedom in a soft pneumatic robot through the combination of flow resistor tubes with series inflatable actuators. We designed and developed these 3D printed resistors…
Significant progress has been made for assessing the influence of porosity on the performance metrics for cast components through various modeling techniques. However, a computationally efficient framework to account for porosity with…