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Origami offers a promising alternative for designing innovative soft robotic actuators. While features of origami, such as bi-directional motion and structural anisotropy, haven't been extensively explored in the past, this letter presents…
Impressive animal locomotion capabilities are mediated by the co-evolution of the skeletal morphology and muscular properties. Legged robot performance would also likely benefit from the co-optimization of actuators and leg morphology.…
The vision of creating entirely-soft robots capable of performing complex tasks will be accomplished only when the controllers required for autonomous operation can be fully implemented on soft components. Despite recent advances in…
Although the application of Series elastic actuators (SEAs) in the biomechatronic field has proved its appropriation in many aspects so far, the problems of maintaining the stability for the SEAs still remains. This paper proposes a robust…
Artificial muscles embody human aspirations for engineering lifelike robotic movements. This paper introduces an architecture for Inflatable Fluid-Driven Origami-Inspired Artificial Muscles (IN-FOAMs). A typical IN-FOAM consists of an…
Autonomous robots in endovascular operations have the potential to navigate circulatory systems safely and reliably while decreasing the susceptibility to human errors. However, there are numerous challenges involved with the process of…
This paper evaluates the capabilities of a soft robotic pneumatic actuator derived from the terrain display haptic device, "The Smart Shoe." The bladder design of the Smart Shoe is upgraded to include a pressure supply and greater output…
This paper introduces the methodology proposed by our group to model the biological soft tissues deformations and to couple these models with Computer-Assisted Surgical (CAS) applications. After designing CAS protocols that mainly focused…
Using joint actuators to drive the skeletal movements is a common practice in character animation, but the resultant torque patterns are often unnatural or infeasible for real humans to achieve. On the other hand, physiologically-based…
The deployment of complex soft robots in multiphysics environments requires advanced simulation frameworks that not only capture interactions between different types of material, but also translate accurately to real-world performance. Soft…
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…
To rationalize the relatively high investment that industrial automation systems entail, research in the field of intelligent machines should target high value functions such as fettling, die-finishing, deburring, and fixtureless…
An underdeveloped capability in soft robotics is proprioceptive feedback control, where soft actuators can be sensed and controlled using only sensors on the robot's body. Additionally, soft actuators are often unable to support human-scale…
Dielectric elastomer actuators (DEAs) have garnered extensive attention especially in soft robotic applications over the past few decades owing to the advantages of lightweight, large strain, fast response and high energy density. However,…
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…
The complex ways in which humans utilize their bodies in sports and martial arts are remarkable, and human motion analysis is one of the most effective tools for robot body design and control. On the other hand, motion analysis is not easy,…
Adaptive morphogenetic robots adapt their morphology and control policies to meet changing tasks and environmental conditions. Many such systems leverage soft components, which enable shape morphing but also introduce simulation and control…
The stiffness modulation mechanism for soft robotics has gained considerable attention to improve deformability, controllability, and stability. However, for the existing stiffness soft actuator, high lateral stiffness and a wide range of…
Autonomous robots have the potential to serve as versatile caregivers that improve quality of life for millions of people worldwide. Yet, conducting research in this area presents numerous challenges, including the risks of physical…
We present a parallel robot mechanism and the constitutive laws that govern the deformation of its constituent soft actuators. Our ultimate goal is the real-time motion-correction of a patient's head deviation from a target pose where the…