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The properties and applications of auxetics have been widely explored in the past years. Through proper utilization of auxetic structures, designs with unprecedented mechanical and structural behaviors can be produced. Taking advantage of…
Reaching-and-grasping is a fundamental skill for robotic manipulation, but existing methods usually train models on a specific gripper and cannot be reused on another gripper. In this paper, we propose a novel method that can learn a…
In this paper, we propose an approach to detect incipient slip, i.e. predict slip, by using a high-resolution vision-based tactile sensor, GelSlim. The sensor dynamically captures the tactile imprints of the contact object and their changes…
We present Shape-Haptics, an approach for designers to rapidly design and fabricate passive force feedback mechanisms for physical interfaces. Such mechanisms are used in everyday interfaces and tools, and they are challenging to design.…
For robot manipulation, a complete and accurate object shape is desirable. Here, we present a method that combines visual and haptic reconstruction in a closed-loop pipeline. From an initial viewpoint, the object shape is reconstructed…
This paper presents a novel vision-based proprioception approach for a soft robotic finger that can estimate and reconstruct tactile interactions in both terrestrial and aquatic environments. The key to this system lies in the finger's…
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…
Granular jamming is a popular soft robotics technology that has seen recent widespread applications including industrial gripping, surgical robotics and haptics. However, to date the field has not fully exploited the fundamental science of…
In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's…
Rapid and versatile object manipulation in air is an open challenge. An energy-efficient and adaptive soft gripper combined with an agile aerial vehicle could revolutionize aerial robotic manipulation in areas such as warehousing. This…
This letter proposes a novel single-fingered reconfigurable robotic gripper for grasping objects in narrow working spaces. The finger of the developed gripper realizes two configurations, namely, the insertion and grasping modes, using only…
We investigate grasping of rigid objects in unilateral robot-assisted minimally invasive surgery (RAMIS) in this paper. We define a human-centered transparency that quantifies natural action and perception in RAMIS. We demonstrate this…
Rigid grippers used in existing aerial manipulators require precise positioning to achieve successful grasps and transmit large contact forces that may destabilize the drone. This limits the speed during grasping and prevents "dynamic…
Robotic hands offer advanced manipulation capabilities, while their complexity and cost often limit their real-world applications. In contrast, simple parallel grippers, though affordable, are restricted to basic tasks like pick-and-place.…
This paper presents a single-actuator passive gripper that achieves both stable grasping and continuous bidirectional in-hand rotation through mechanically encoded power transmission logic. Unlike conventional multifunctional grippers that…
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…
Quadruped robots are increasingly used in various applications due to their high mobility and ability to operate in diverse terrains. However, most available quadruped robots are primarily focused on mobility without object manipulation…
Robotic telemanipulation - the human-guided manipulation of remote objects - plays a pivotal role in several applications, from healthcare to operations in harsh environments. While visual feedback from cameras can provide valuable…
This paper proposes a new variable stiffness soft gripper that enables high-performance grasping tasks in industrial applications. The design of the proposed monolithic soft gripper includes a middle bellow and two side bellows (i.e.,…
To adapt to constantly changing environments and be safe for human interaction, robots should have compliant and soft characteristics as well as the ability to sense the world around them. Even so, the incorporation of tactile sensing into…