Related papers: 3D Printed Proprioceptive Soft Fluidic Actuators w…
3D printing technology offers the possibility of producing synthetic samples with accurately defined microstructures. As indicated by effective medium theory (EMT), the shapes, orientations, and sizes of voids significantly affect the…
We present a self-contained, soft robotic hand composed of soft pneumatic actuator modules that are equipped with strain and pressure sensing. We show how this data can be used to discern whether a grasp was successful. Co-locating sensing…
Soft actuators are receiving increasing attention from the engineering community, not only in research but even for industrial applications. Among soft actuators, fibre-reinforced Bending Fluidic Actuators (BFAs) became very popular thanks…
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…
The technological transition from soft machines to soft robots necessarily passes through the integration of soft electronics and sensors. This allows for the establishment of feedback control systems while preserving the softness of the…
The excellent structural and piezoresistive properties of continuous carbon fiber make it suitable for both structural and sensing applications. This work studies the use of 3D printed, continuous carbon fiber reinforced beams as…
Soft pneumatic actuators are widely used in soft robotics because they can produce large motions while remaining compliant enough to interact safely with objects, environments, and the human body. However, their performance is not solely…
Additive manufacturing is enabling soft robots with increasingly complex geometries, creating a demand for sensing solutions that remain compatible with single-material, one-step fabrication. Optical soft sensors are attractive for…
Our understanding of the elasticity and rheology of disordered materials, such as granular piles, foams, emulsions or dense suspensions relies on improving experimental tools to characterize their behaviour at the particle scale. While 2D…
Reconstructing the three-dimensional (3D) geometry of object surfaces is essential for robot perception, yet vision-based approaches are generally unreliable under low illumination or occlusion. This limitation motivates the design of a…
4D printing empowers 3D printed structures made of hydrogels, liquid crystals or shape memory polymers, with reversible morphing capabilities in response to an external stimulus. To apply reversible shape-change to stiff lightweight…
Soft robotics, with their inherent flexibility and infinite degrees of freedom (DoF), offer promising advancements in human-machine interfaces. Particularly, pneumatic artificial muscles (PAMs) and pneumatic bending actuators have been…
Soft robotics have gained increased attention from the robotic community due to their unique features such as compliance and human safety. Impressive amount of soft robotic prototypes have shown their superior performance over their rigid…
Response to uniaxial stress has become a major probe of electronic materials. Tuneable uniaxial stress may be applied using piezoelectric actuators, and so far two methods have been developed to couple samples to actuators. In one,…
Printing has drawn a lot of attention as a means of low per-unit cost and high throughput patterning of graphene inks for scaled-up thin-form factor device manufacturing. However, traditional printing processes require a flat surface and…
This paper presents modeling of a compliant 2D manipulator, a so called soft hydraulic/fluidic elastomer actuator. Our focus is on fiber-Reinforced Fluidic Elastomer Actuators (RFEA) driven by a constant pressure hydraulic supply and…
Wearable robots are limited by their actuators performances because they must bear the weight of their own power system and energy source. This paper explores the idea of leveraging hybrid modes to meet multiple operating points with a…
Robotic systems driven by conventional motors often suffer from challenges such as large mass, complex control algorithms, and the need for additional braking mechanisms, which limit their applications in lightweight and compact robotic…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
Soft robotic systems offer benefits over traditional rigid systems through reduced contact trauma with soft tissues and by enabling access through tortuous paths in minimally invasive surgery. However, the inherent deformability of soft…