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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…
This paper presents a new task-space Non-singular Terminal Super-Twisting Sliding Mode (NT-STSM) controller with adaptive gains for robust trajectory tracking of a 7-DOF robotic manipulator. The proposed approach addresses the challenges of…
Robotic legs have bimodal operations: swing phases when the leg needs to move quickly in the air (high-speed, low-force) and stance phases when the leg bears the weight of the system (low-speed, high-force). Sizing a traditional…
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…
Most traditional robotic mechanisms feature inelastic joints that are unable to robustly handle large deformations and off-axis moments. As a result, the applied loads are transferred rigidly throughout the entire structure. The…
STRAS (Single access Transluminal Robotic Assistant for Surgeons) is a new robotic system for application to intraluminal surgical procedures. Preclinical testing of STRAS has recently permitted to demonstrate major advantages of the system…
Functional magnetic composites capable of large deformation, load bearing, and multifunctional motion are essential for next-generation adaptive soft robots. Here, we present muscle-inspired magnetic actuators (MMA), additively manufactured…
Intrinsically elastic robots surpass their rigid counterparts in a range of different characteristics. By temporarily storing potential energy and subsequently converting it to kinetic energy, elastic robots are capable of highly dynamic…
Soft pneumatic actuators have seen applications in many soft robotic systems, and their pressure-driven nature presents unique challenges and opportunities for controlling their motion. In this work, we present a new concept: designing and…
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…
In this study, a fault-tolerant super-twisting sliding mode controller with a control allocation system for a quadrotor aircraft is proposed. Super twisting sliding mode control is a robust control technique that handles a system with a…
Subthreshold circuit designs are very much popular for some of the ultra low power applications, where the minimum energy consumption is the primary concern. But, due to the weak driving current, these circuits generally suffer from huge…
Handed Shearing Auxetics (HSA) are a promising technique for making motor-driven, soft, continuum robots. Many potential applications from inspection tasks to solar tracking require accurate kinematic models to predict the position and…
Discrete-time joint acceleration constraints are widely used to enforce position and velocity limits. However, under voltage-constrained electric actuators, kinematically admissible accelerations may be physically unrealizable, exposing a…
This letter introduces a novel pinching-antenna-system (PASS) assisted simultaneous wireless information and power transfer (SWIPT), where multiple pinching antennas (PAs) are strategically activiated on a waveguide to facilitate…
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 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 with gears and linkages, wires constitute a lightweight, low-friction transmission mechanism. However, because wires are flexible materials, they tend to introduce large modeling errors, and their adoption in industrial and…
Soft robotics have gained increased attention from the robotic community due to their unique features such as compliance and human safety. Impressive amount of soft robotic prototypes have shown their superior performance over their rigid…
The present work deals with the microstructure and texture evolutions of a TWIP high entropy alloy at various temperatures. Toward this end, the tensile tests were conducted at temperatures ranging from 298 to 873 K under the strain rate of…