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Soft actuators have drawn significant attention from researchers with an inherently compliant design to address the safety issues in physical human-robot interactions. However, they are also vulnerable and pose new challenges in the design,…
Soft machines typically exhibit slow locomotion speed and low manipulation strength because of intrinsic limitations of soft materials. Here, we present a generic design principle that harnesses mechanical instability for a variety of…
Robotic manipulation in unstructured environments requires end-effectors that combine high kinematic dexterity with physical compliance. While traditional rigid hands rely on complex external sensors for safe interaction, electrohydraulic…
Exoskeleton robots have become a promising tool in neurorehabilitation, offering effective physical therapy and recovery monitoring. The success of these therapies relies on precise motion control systems. Although computed torque control…
Soft machines are poised to deliver significant real-world impact, with soft robotics emerging as a key sub-discipline. This field integrates biological inspiration, materials science, and embodied intelligence to create bio-robotic…
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…
Designing generalizable control policies for lower-limb exoskeletons remains fundamentally constrained by exhaustive data collection or iterative optimization procedures, which limit accessibility to clinical populations. To address this…
Modern robots embody power and precision control. Yet, as robots undertake tasks that apply forces on humans, this power brings risk of injury. Soft robotic actuators use deformation to produce smooth, continuous motions and conform to…
This paper exposes a control architecture enabling rehabilitation of walking impaired patients with the lower-limb exoskeleton Atalante. Atalante's control system is modified to allow the patient to contribute to the walking motion through…
Squatting is one of the most demanding lower-limb movements, requiring substantial muscular effort and coordination. Reducing the physical demands of this task through intelligent and personalized assistance has significant implications,…
Wearable and legged robot designers face multiple challenges when choosing actuation. Traditional fully actuated designs using electric motors are multifunctional but oversized and inefficient for bearing conservative loads and for being…
Ankle push-off largely contributes to limb energy generation in human walking, leading to smoother and more efficient locomotion. Providing this net positive work to an amputee requires an active prosthesis, but has the potential to enable…
Portable pneumatic systems for 2 degree-of-freedom (DOF) soft shoulder exosuits remain underexplored, and face fundamental trade-offs between torque output and dynamic response that are further compounded by the need for multiple actuators…
Spinal cord injuries frequently impair the ability to walk. Powered lower limb exoskeletons offer a promising solution to restore walking ability. However, they are currently restricted to even ground. We hypothesized that compliant…
In biomechanics and robotics, elasticity plays a crucial role in enhancing locomotion efficiency and stability. Traditional approaches in legged robots often employ series elastic actuators (SEA) with discrete rigid components, which, while…
High-quality, long-horizon demonstrations are essential for embodied AI, yet acquiring such data for tightly coupled wheeled mobile manipulators remains a fundamental bottleneck. Unlike fixed-base systems, mobile manipulators require…
We present an open-source untethered quadrupedal soft robot platform for dynamic locomotion (e.g., high-speed running and backflipping). The robot is mostly soft (80 vol.%) while driven by four geared servo motors. The robot's soft body and…
This paper presents a neural network (NN) based adaptive feedback regulator to ensure the lateral and longitudinal stability and regulate the desired walking velocity of a lower-limb exoskeleton under model uncertainty. The traditional…
Soft Robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced…
Lower limb exoskeleton robots hold great potential for rehabilitation, movement assistance, and strength augmentation. Design control to guarantee optimal needed assistance is still a challenge considering the pathological variances between…