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The common layer-by-layer deposition of regular, 3-axis 3D printing simplifies both the fabrication process and the 3D printer's mechanical design. However, the resulting 3D printed objects have some unfavourable characteristics including…
Wearable distributed tactile devices aim to provide multipoint touch stimuli, but struggle to provide sufficient forces (> 1 N) at frequencies to invoke deep pressure sensation with minimal encumbrance at small scales. This work presents a…
Grip surfaces with tunable friction can actively modify contact conditions, enabling transitions between higher- and lower-friction states for grasp adjustment. Friction can be increased to grip securely and then decreased to gently release…
Integration of both actuation and proprioception into the robot body would provide actuation and sensing in a single integrated system. Within this work, a manufacturing approach for such actuators is investigated that relies on 3D printing…
Fused filament fabrication is the method of choice for printing 3D models at low cost and is the de-facto standard for hobbyists, makers, and schools. Unfortunately, filament printers cannot truly reproduce colored objects. The best current…
Despite the growing level of technological advancement that characterizes extrusion-deposition additive manufacturing technology, there remains a significant knowledge gap in fully understanding the process-structure-property relationship…
Shape-changing interfaces are promising for users to change the physical properties of common objects. However, prevailing approaches of actuation devices require either professional equipment or materials that are not commonly accessible…
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.…
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…
Soft pneumatic robot manipulators are popular in industrial and human-interactive applications due to their compliance and flexibility. However, deploying them in real-world scenarios requires advanced sensing for tactile feedback and…
Manipulating deformable objects in robotic cells is often costly and not widely accessible. However, the use of localized pneumatic gripping systems can enhance accessibility. Current methods that use pneumatic grippers to handle deformable…
Soft robots are made of compliant materials that perform their tasks by deriving motion from elastic deformations. They are used in various applications, e.g., for handling fragile objects, navigating sensitive/complex environments, etc.,…
We propose a sensorization method for soft pneumatic actuators that uses an embedded microphone and speaker to measure different actuator properties. The physical state of the actuator determines the specific modulation of sound as it…
In this work, we have performed numerical simulations of the flapping motion of a rectangular wing in a three-dimensional flow field using the discrete vortex method (DVM). The DVM method is computationally more convenient because it does…
Soft robotics hold promise in the development of safe yet powered assistive wearable devices for infants. Key to this is the development of closed-loop controllers that can help regulate pneumatic pressure in the device's actuators in an…
The functional replication and actuation of complex structures inspired by nature is a longstanding goal for humanity. Creating such complex structures combining soft and rigid features and actuating them with artificial muscles would…
The goal of this paper is to enable 3D printed lightweight composite foams by blending hollow glass micro balloons (GMB) with high density polyethylene (HDPE). To that end, lightweight feedstock for printing syntactic foam composites is…
Classical rigid-bodied robotic systems are presented with proven success in theoretical development and industrial applications, are recently challenged by the emergence of soft robotics due to a growing need in physical human-robot…
Robotic arms are essential to modern industries, however, their adaptability to unstructured environments remains limited. Soft robotic arms, particularly those actuated pneumatically, offer greater adaptability in unstructured environments…
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…