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This paper presents preliminary results of the design, development, and evaluation of a hand rehabilitation glove fabricated using lobster-inspired hybrid design with rigid and soft components for actuation. Inspired by the bending abdomen…
Legged locomotion is a highly promising but under-researched subfield within the field of soft robotics. The compliant limbs of soft-limbed robots offer numerous benefits, including the ability to regulate impacts, tolerate falls, and…
This study introduces an innovative design for a Variable Stiffness 3 Degrees of Freedom actuated wrist capable of actively and continuously adjusting its overall stiffness by modulating the active length of non-linear elastic elements.…
Precision cutting of soft-tissue remains a challenging problem in robotics, due to the complex and unpredictable mechanical behaviour of tissue under manipulation. Here, we consider the challenge of cutting along the boundary between two…
Soft robots are promising for manipulation tasks thanks to their compliance, safety, and high degree of freedom. However, the commonly used bidirectional continuum segment design means soft robotic manipulators only function in a limited…
This paper presents a control interface to translate the residual body motions of individuals living with severe disabilities, into control commands for body-machine interaction. A custom, wireless, wearable multi-sensor network is used to…
In this work, a novel soft continuum robot-inspired antenna array is proposed, featuring tentacle-like structures with multiple antenna elements. The proposed array achieves reconfigurability through continuous deformation of its geometry,…
This paper investigates adaptive control of nonlinear robot manipulators with parametric uncertainty. Motivated by generating closed-loop robot dynamics with enhanced transmission capability of a reference torque and with connection to…
Soft robots, compared to regular rigid robots, as their multiple segments with soft materials bring flexibility and compliance, have the advantages of safe interaction and dexterous operation in the environment. However, due to its…
For Cable-Driven Parallel Robots, the cable length is the only element we control. Better knowledge of this parameter will improve robot performances. We propose a new cable length autocalibration subsystem. It consists of an instrumented…
Soft modular robots enable more flexibility and safer interaction with the changing environment than traditional robots. However, it has remained challenging to create deformable connectors that can be integrated into soft machines. In this…
Real-time proprioception is a challenging problem for soft robots, which have almost infinite degrees-of-freedom in body deformation. When multiple actuators are used, it becomes more difficult as deformation can also occur on actuators…
Cables under very low tension may become highly contorted and form loops, tangles, knots and kinks. These nonlinear deformations, which are dominated by flexure and torsion, pose serious concerns for cable deployment. Simulation of the…
Accurate simulation of soft mechanisms under dynamic actuation is critical for the design of soft robots. We address this gap with our differentiable simulation tool by learning the material parameters of our soft robotic fish. On the…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
This paper introduces a novel six-axis force/torque sensor tailored for compact and lightweight legged robots. Unlike traditional strain gauge-based sensors, the proposed non-contact design employs photocouplers, enhancing resistance to…
Variable stiffness is a key capability in biological and robotic systems, enabling adaptive interaction across tasks and environments. Mechanical metamaterials offer an alternative to conventional mechatronic solutions by encoding stiffness…
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…
We present a computational design system that assists users to model, optimize, and fabricate quad-robots with soft skins.Our system addresses the challenging task of predicting their physical behavior by fully integrating the multibody…
We describe the hardware design, force-rendering approach, and evaluation of a new reconfigurable haptic interface consisting of a network of hybrid motor-brake actuation modules that apply forces via cables. Each module contains both a…