Related papers: Responsive Hydrogel-based Modular Microrobots for …
Soft robotic manipulators are generally slow despite their great adaptability, resilience, and compliance. This limitation also extends to current soft robotic micromanipulators. Here, we introduce FilMBot, a 3-DOF film-based,…
Tissue-like materials are required in many robotic systems to improve human-machine interactions. However, the mechanical properties of living tissues are difficult to replicate. Synthetic materials are not usually capable of simultaneously…
The morphology of a slender soft-robot can be modified by sensing its shape via sensors and exerting moments via actuators embedded along its body. The actuating moments required to morph these soft-robots to a desired shape are often…
Most traditional robotic mechanisms feature inelastic joints that are unable to robustly handle large deformations and off-axis moments. As a result, the applied loads are transferred rigidly throughout the entire structure. The…
This research proposes a novel morphing structure with shells inspired by the movement of pillbugs. Instead of the pillbug body, a loopcoupled mechanism based on slider-crank mechanisms is utilized to achieve the rolling up and spreading…
Biological systems, such as the octopus, exhibit masterful cross-scale manipulation by adaptively reconfiguring their entire form, a capability that remains elusive in robotics. Conventional soft grippers, while compliant, are mostly…
We introduce and analyze a model for self-reconfigurable robots made up of unit-cube modules. Compared to past models, our model aims to newly capture two important practical aspects of real-world robots. First, modules often do not occupy…
Inspired by the cellular design of plant tissue, we present a new approach to make versatile, tough, highly water-swelling composites. We embed highly swelling hydrogel particles inside tough, water-permeable, elastomeric matrices. The…
Low-molecular weight (LMW) hydrogels are gaining interest over macromolecular gels due to their reversible, dynamic and stimuli-responsive nature. They are potentially interesting functional materials for advanced applications such as…
While its biological significance is well-documented, its application in soft robotics, particularly for the transport of fragile and irregularly shaped objects, remains underexplored. This study presents a modular soft robotic actuator…
Soft robots are known for their ability to perform tasks with great adaptability, enabled by their distributed, non-uniform stiffness and actuation. Bending is the most fundamental motion for soft robot design, but creating robust, and…
Many robotic surgical systems have been developed with micro-sized forceps for tissue manipulation. However, these systems often lack force sensing at the tool side and the manipulation forces are roughly estimated and controlled relying on…
It may be possible to reinvent how microelectronics are made using a two step process: (1) Synthesizing modular, nanometer-scale components -- transistors, sensors, and other devices -- and suspending them in a liquid "ink" for storage or…
Natural systems integrate the work of many sub-units (cells) toward a large-scale unified goal (morphological and behavioral), which can counteract the effects of unexpected experiences, damage, or simply changes in tasks demands. In this…
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…
Tissue engineering aims to grow artificial tissues \emph{in vitro} to replace those in the body that have been damaged through age, trauma or disease. A recent approach to engineer artificial cartilage involves seeding cells within a…
Incorporating functional molecules into sensor devices is an emerging field in molecular electronics that aims at exploiting the sensitivity of different molecules to their environment and turning it into an electrical signal. Among the…
The production of monodisperse particles or droplets is a longstanding issue across various fields, from aerosol science to inkjet printing. In bioengineering, submillimeter cell laden hydrogel capsules have proven valuable for developing…
Modular robotics holds immense potential for space exploration, where reliability, repairability, and reusability are critical for cost-effective missions. Coordination between heterogeneous units is paramount for precision tasks -- whether…
Soft optical tactile sensors enable robots to manipulate deformable objects by capturing important features such as high-resolution contact geometry and estimations of object compliance. This work presents a variable stiffness soft tactile…