Related papers: Origami-Inspired Soft Gripper with Tunable Constan…
Snapping instabilities in soft structures offer a powerful pathway to achieve rapid and energy-efficient actuation. In this study, an eccentric dome-shaped snapping actuator is developed to generate controllable asymmetric motion through…
The manipulation of garments poses research challenges due to their deformable nature and the extensive variability in shapes and sizes. Despite numerous attempts by researchers to address these via approaches involving robot perception and…
Soft pneumatic actuators enable safe human-machine interaction with lightweight and powerful applied parts. On the other side, they suffer design limitations as regards complex actuation patterns, including minimum bending radii,…
We investigate a method to modulate contact forces between the soft fingers of a two-finger gripper and an object, without relying on tactile sensors. This work is a follow-up to our previous results on contact detection. Here, our…
Origami-based structures play an important role in the realization of deployable mechanisms and unique mechanical properties via programmable deformation by folding. Among origami-based structures, tessellation by the coupling of origami…
Granular jamming has been identified as a fundamental mechanism for the operation of robotic grippers. In this work, we show, that soft particles like expanded polystyrene beads lead to significantly larger gripping forces in comparison to…
This paper proposes a controller for stable grasping of unknown-shaped objects by two robotic fingers with tactile fingertips. The grasp is stabilised by rolling the fingertips on the contact surface and applying a desired grasping force to…
Morphing surfaces provide a versatile tool to advance the functionalities of high-performance aircraft, soft robots, biomedical devices, and human-machine interfaces. However, achieving precise shape transformation and mechanical property…
Robotic hands with soft surfaces can perform stable grasping, but the high friction of the soft surfaces makes it difficult to release objects, or to perform operations that require sliding. To solve this issue, we previously developed a…
Origami and kirigami have emerged as potential tools for the design of mechanical metamaterials whose properties such as curvature, Poisson ratio, and existence of metastable states can be tuned using purely geometric criteria. A major…
Although the multi-jointed underactuated manipulator is highly dexterous, its grasping capacity does not match that of the parallel jaw gripper. This work introduces a fractal gripper to enhance the grasping capacity of multi-joint…
Sim-to-real transfer remains a significant challenge in soft robotics due to the unpredictability introduced by common manufacturing processes such as 3D printing and molding. These processes often result in deviations from simulated…
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…
Origami, the traditional art of paper folding, has revolutionized science and technology in recent years and has been found useful in various real-world applications. In particular, origami-inspired structures have been utilized for…
The ability of robotic grippers to not only grasp but also re-position and re-orient objects in-hand is crucial for achieving versatile, general-purpose manipulation. While recent advances in soft robotic grasping has greatly improved grasp…
Robotic grasping of arbitrary objects even in completely known environments still remains a challenging problem. Most previously developed algorithms had focused on fingertip grasp, failing to solve the problem even for fully actuated…
Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…
Recently, inflatable elements integrated in robotics systems have enabled complex motions as a result of simple inputs. However, these fluidic actuators typically exhibit unimodal deformation upon inflation. Here, we present a new design…
In this paper, we presented a data-driven framework to optimize the out-of-plane stiffness for soft grippers to achieve mechanical properties as hard-to-twist and easy-to-bend. The effectiveness of this method is demonstrated in the design…
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…