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Autonomy in robotic surgery is very challenging in unstructured environments, especially when interacting with deformable soft tissues. The main difficulty is to generate model-based control methods that account for deformation dynamics…
The recent advancements in machine learning techniques have steered us towards the data-driven design of products. Motivated by this objective, the present study proposes an automated design methodology that employs data-driven methods to…
This paper presents the design and assessment of a fabric-based soft pneumatic actuator with low pressurization requirements for actuation making it suitable for upper extremity assistive devices for infants. The goal is to support shoulder…
Soft robotic systems are known for their flexibility and adaptability, but traditional physics-based models struggle to capture their complex, nonlinear behaviors. This study explores a data-driven approach to modeling the…
This paper presents a compact system, OpenPneu, to support the pneumatic actuation for multi-chambers on soft robots. Micro-pumps are employed in the system to generate airflow and therefore no extra input as compressed air is needed. Our…
In this work, an experimental characterization of the configuration space of a soft, pneumatically actuated morphing quadrotor is presented, with a focus on precise thrust characterization of its flexible arms, considering the effect of…
Recently, suction-based robotic systems with microscopic features or active suction components have been proposed to grip rough and irregular surfaces. However, sophisticated fabrication methods or complex control systems are required for…
Flexible robots have advantages over rigid robots in their ability to conform physically to their environment and to form a wide variety of shapes. Sensing the force applied by or to flexible robots is useful for both navigation and…
Soft robotic grasping has rapidly spread through the academic robotics community in recent years and pushed into industrial applications. At the same time, multimaterial 3D printing has become widely available, enabling the monolithic…
The delta robot is becoming a popular choice for the mechanical design of fused filament fabrication 3D printers because it can reach higher speeds than traditional serial-axis designs. Like serial 3D printers, delta printers suffer from…
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…
Robotic wire arc additive manufacturing has been widely adopted due to its high deposition rates and large print volume relative to other metal additive manufacturing processes. For complex geometries, printing with variable height within…
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…
Task-driven design of soft robots requires models that are physically accurate and computationally efficient, while remaining transferable across actuator designs and task scenarios. However, existing modeling approaches typically face a…
Portable quantum technologies require robust, lightweight apparatus with superior performance. For techniques dependent upon high-vacuum environments, such as atom interferometers and atomic clocks, 3D-printing enables new avenues to tailor…
Mechanical metamaterials actuators achieve pre-determined input--output operations exploiting architectural features encoded within a single 3D printed element, thus removing the need of assembling different structural components. Despite…
Compared to traditional rigid robotics, soft robotics has attracted increasing attention due to its advantages as compliance, safety, and low cost. As an essential part of soft robotics, the soft robotic gripper also shows its superior…
Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscillations are less…
Simulating soft robots in cluttered environments remains an open problem due to the challenge of capturing complex dynamics and interactions with the environment. Furthermore, fast simulation is desired for quickly exploring robot behaviors…
A novel autonomous chunk-based aerial additive manufacturing framework is presented, supported with experimental demonstration advancing aerial 3D printing. An optimization-based decomposition algorithm transforms structures into…