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Miniaturised soft pneumatic actuators are crucial for robotic intervention within highly constrained anatomical pathways. This work presents the design and validation of a fibre-reinforced soft actuator at the centimetre scale for inte-…
Here we present HAMR-Jr, a \SI{22.5}{\milli\meter}, \SI{320}{\milli\gram} quadrupedal microrobot. With eight independently actuated degrees of freedom, HAMR-Jr is, to our knowledge, the most mechanically dexterous legged robot at its scale…
To increase the awareness and impact, soft robotics needs to go beyond the lab environment and should be readily accessible to those even with no robotic expertise. However, most prevailing manufacturing methodologies require either…
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…
Impressive animal locomotion capabilities are mediated by the co-evolution of the skeletal morphology and muscular properties. Legged robot performance would also likely benefit from the co-optimization of actuators and leg morphology.…
Electrostatic actuators provide a promising approach to creating soft robotic sheets, due to their flexible form factor, modular integration, and fast response speed. However, their control requires kilo-Volt signals and understanding of…
In this paper, we characterize the performance of and develop thermal management solutions for a DC motor-driven resonant actuator developed for flapping wing micro air vehicles. The actuator, a DC micro-gearmotor connected in parallel with…
Snapping instabilities in soft structures offer a powerful pathway to achieve rapid and energy-efficient actuation. In this study, an eccentric dome-shaped snapping actuator is developed to generate controllable asymmetric motion through…
We present a fully edible pneumatic actuator based on gelatin-glycerol composite. The actuator is monolithic, fabricated via a molding process, and measures 90 mm in length, 20 mm in width, and 17 mm in thickness. Thanks to the composite…
Wireless millimeter-scale origami robots that can locomote in narrow spaces and morph their shapes have recently been explored with great potential for biomedical applications. Existing millimeter-scale origami devices usually require…
Here we report the first sub-milligram flapping wing vehicle which is able to mimic insect wing kinematics. Wing stroke amplitude of 90$^\circ$ and wing pitch amplitude of 80$^\circ$ is demonstrated. This is also the smallest wing-span…
Vascular diseases such as atherosclerosis, thrombosis, and aneurysms can lead to life-threatening medical events. Conventional catheter- or guidewire-based interventional devices often struggle to navigate through highly tortuous…
Lack of fast and strong actuators to drive microsystems is well recognized. Electrochemical actuators are considered attractive for many applications but they have long response time (minutes) due to slow gas termination. Here an…
Origami-inspired robots are of particular interest given their potential for rapid and accessible design and fabrication of elegant designs and complex functionalities through cutting and folding of flexible 2D sheets or even strings,…
Bimetallic composite nanotweezers based on Ti2NiCu alloy with shape memory effect (SME) have recently demonstrated the ability to manipulate real nano-objects, such as nanotubes, and bionanoparticles when heated to 40-60 C by laser…
The proliferation of Transformer models is often constrained by the significant computational and memory bandwidth demands of deployment. To address this, we present MXFormer, a novel, hybrid, weight-stationary Compute-in-Memory (CIM)…
In this paper, a compressed air-actuated soft robotic module was developed by incorporating a shape memory alloy (SMA) wire into its structure to achieve the desired bending angle with greater precision. First, a fiber-reinforced bending…
Fish locomotion is enabled by fin rays-actively deformable boney rods, which manipulate the fin to facilitate complex interaction with surrounding water and enable propulsion. Replicating the performance and kinematics of the biological fin…
This work presents a novel Shape Memory Alloy spring actuated continuum robotic neck that derives inspiration from pennate muscle architecture. The proposed design has 2DOF, and experimental studies reveal that the designed joint can…
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.…