Related papers: Designing a Magnetic Micro-Robot for Transporting …
Magnetic soft continuum robots (MSCRs) have emerged as a promising technology for minimally invasive interventions, offering enhanced dexterity and remote-controlled navigation in confined lumens. Unlike conventional guidewires with…
Compared to conventional wheeled transportation systems designed for flat surfaces, soft robots exhibit exceptional adaptability to various terrains, enabling stable movement in complex environments. However, due to the risk of collision…
Flagellated microorganisms can swim at low Reynolds numbers and adapt to changes in their environment. Specifically, the flagella can switch their shapes or modes through gene expression. In the past decade, efforts have been made to…
Electromagnetic systems have been used extensively for the control magnetically actuated objects, such as in microrheology and microrobotics research. Therefore, optimizing the design of such systems is highly desired. Some of the features…
Robot-assisted feeding can greatly enhance the lives of those with mobility limitations. Modern feeding systems can pick up and position food in front of a care recipient's mouth for a bite. However, many with severe mobility constraints…
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…
Pneumatic soft everting robotic structures have the potential to facilitate human transfer tasks due to their ability to grow underneath humans without sliding friction and their utility as a flexible sling when deflated. Tubular structures…
Metachronal locomotion is a widespread swimming mode used by aquatic swarming organisms to achieve performance and maneuverability in the intermediate Reynolds number regime. Our understanding of the mechanisms driving these abilities is…
Musculoskeletal robots that are based on pneumatic actuation have a variety of properties, such as compliance and back-drivability, that render them particularly appealing for human-robot collaboration. However, programming interactive and…
In this paper, we address the challenge of performing non-prehensile pushing operations with a compliant robotic manipulation system. To ensure safe operations in human-populated environments, robots must comply with external physical…
This manuscript introduces an object deformability-agnostic framework for co-carrying tasks that are shared between a person and multiple robots. Our approach allows the full control of the co-carrying trajectories by the person while…
Contrary to the stunning feats observed in birds of prey, aerial manipulation and grasping with flying robots still lack versatility and agility. Conventional approaches using rigid manipulators require precise positioning and are subject…
Modern humanoid robots have shown their promising potential for executing various tasks involving the grasping and manipulation of objects using their end-effectors. Nevertheless, in the most of the cases, the grasping and manipulation…
Autonomous mobile manipulation robots that can collect trolleys are widely used to liberate human resources and fight epidemics. Most prior robotic trolley collection solutions only detect trolleys with 2D poses or are merely based on…
Soft machines are poised to deliver significant real-world impact, with soft robotics emerging as a key sub-discipline. This field integrates biological inspiration, materials science, and embodied intelligence to create bio-robotic…
Locomotion in microgravity often relies on sparsely and irregularly arranged anchors, motivating grasp-based mobility with multiple limbs. In this setting, dynamic locomotion is feasible only through deliberate regulation of both anchored…
Exploration of various applications is the frontier of research on inflatable robots. We proposed an articulated robots consisting of multiple pneumatic bladder links connected by rolling contact joints called Hillberry joints. The bladder…
The following research undertakes a historical review of this technology with specific highlighting of its advancement in medical diagnostics as well as the therapeutic functionality of wireless capsule endoscopy. Without restriction to the…
Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady state. At the same time, soft robotic research has made…
Micro-robots for, e.g., biomedical applications, need to be equipped with motility strategies that enable them to navigate through complex environments. Inspired by biological microorganisms we recreate motility patterns such as…