Related papers: Reconfigurable, Transformable Soft Pneumatic Actua…
Recent advances in active materials and fabrication techniques have enabled the production of cyclically self-deployable metamaterials with an expanded functionality space. However, designing metamaterials that possess continuously tunable…
Track systems effectively distribute loads, augmenting traction and maneuverability on unstable terrains, leveraging their expansive contact areas. This tracked locomotion capability also aids in hand manipulation of not only regular…
Soft continuum robots achieve complex deformation through elastic equilibrium, making their reachable motions governed jointly by structural design and actuation-induced mechanics. This work develops a general formulation that integrates…
This paper presents a soft propelled arm, 3D-printed in TPU 70A, designed to be used in flexible UAVs, an advantageous concept since it reduces risk in the event of a collision thanks to a high energy absorption. The proposed design also…
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…
Modern reconfigurable architectures are increasingly favored for resource-constrained edge devices as they balance high performance, energy efficiency, and programmability well. However, their proficiency in handling regular compute…
Increasing the performance of tactile sensing in robots enables versatile, in-hand manipulation. Vision-based tactile sensors have been widely used as rich tactile feedback has been shown to be correlated with increased performance in…
Fluidically actuated soft robots have promising capabilities such as inherent compliance and user safety. The control of soft robots needs to properly handle nonlinear actuation dynamics, motion constraints, workspace limitations, and…
One of the trendsetting themes in soft robotics has been the goal of developing the ultimate universal soft robotic gripper. One that is capable of manipulating items of various shapes, sizes, thicknesses, textures, and weights. All the…
Our system introduces a modularized pneumatic actuating unit capable of delivering vibration, pressure, and impact feedback. Designed for adaptability, these modular tactile actuating units can be rapidly customized and reconfigured to suit…
Bilayer bending based soft actuators are widely utilized in soft robotics for locomotion and object gripping. However, studies on soft actuators based on bilayer doming remain largely unexplored despite the often-observed dome-like shapes…
Soft robotics has emerged as a promising field with the potential to revolutionize industries such as healthcare and manufacturing. However, designing effective soft robots presents challenges, particularly in managing the complex interplay…
This paper presents a novel, modular, cable-driven soft robotic arm featuring multi-segment reconfigurability. The proposed architecture enables a stackable system with independent segment control, allowing scalable adaptation to diverse…
In this paper, we explore how techniques from soft robotics can help create a new form of robot expression. We present Sprout, a soft expressive robot that conveys its internal states by changing its body shape. Sprout can extend, bend,…
Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…
Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…
Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unintended contact. However, these robots' applied forces result…
Soft robots, particularly magnetic soft robots, require specialized simulation tools to accurately model their deformation under external magnetic fields. However, existing platforms often lack dedicated support for magnetic materials,…
Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes…
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…