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The recent advancements in machine learning techniques have steered us towards the data-driven design of products. Motivated by this objective, the present study proposes an automated design methodology that employs data-driven methods to…
Soft actuators offer a safe, adaptable approach to tasks like gentle grasping and dexterous manipulation. Creating accurate models to control such systems however is challenging due to the complex physics of deformable materials. Accurate…
Additive Manufacturing (AM) is a promising solution for handling the complexity of fabricating soft robots. However, the AM of hyperelastic materials is still challenging with a limited material range. Within this work, pellet-based 3D…
Textile pneumatic actuators can provide useful wearable haptic feedback when embedded in gloves, armbands, and other smart garments. Here we investigate actuators fabricated from thermoplastic coated textiles. We measure the effects of…
Biological muscles have always attracted robotics researchers due to their efficient capabilities in compliance, force generation, and mechanical work. Many groups are working on the development of artificial muscles, however,…
Compliant walls are widespread in biological and engineering systems. Because of their singular nature, adapted tools are required to accurately study their rheological properties as well as the consequences of the latter within a given…
Numerous soft actuators based on PneuNet design have already been proposed and extensively employed across various soft robotics applications in recent years. Despite their widespread use, a common limitation of most existing designs is…
We describe a fluidic actuator design that replaces the sealed chamber of a hydraulic cylinder using a soft actuator to provide compliant linear compression with a large force ($\geq$100 N) at a low operation pressure ($\leq$50 kPa) for a…
Soft robots have been increasingly utilized as sophisticated tools in physical rehabilitation, particularly for assisting patients with neuromotor impairments. However, many soft robotics for rehabilitation applications are characterized by…
Soft actuators have shown great advantages in compliance and morphology matched for manipulation of delicate objects and inspection in a confined space. There is an unmet need for a soft actuator that can provide torsional motion to e.g.…
Inflated-beam soft robots, such as tip-everting vine robots, can control curvature by contracting one beam side via pneumatic actuation. This work develops a general finite element modeling approach to characterize their bending. The model…
Soft robotics is advancing the use of flexible materials for adaptable robotic systems. Membrane-actuated soft robots address the limitations of traditional soft robots by using pressurized, extensible membranes to achieve stable, large…
This paper introduces a new nonlinear topology optimization framework which employs porohyperelasticity for providing computational design of pneumatic soft actuators. Density-based topology optimization is used with the objective of…
In this work we present a framework that is capable of accurately representing soft robotic actuators in a multiphysics environment in real-time. We propose a constraint-based dynamics model of a 1-dimensional pneumatic soft actuator that…
Nematic elastomers are programmable soft materials that display large, reversible and predictable deformation under an external stimulus such as a change in temperature or light. While much of the work in the field has focused on actuation…
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…
Soft pneumatic gripping strategies are often based on pressurized actuation of structures made of soft elastomeric materials, which limits designs in terms of size, weight, achievable forces, and ease of fabrication. On the other hand,…
Soft robotics technologies have gained growing interest in recent years, which allows various applications from manufacturing to human-robot interaction. Pneumatic artificial muscle (PAM), a typical soft actuator, has been widely applied to…
Active nematics, formed from a liquid crystalline suspension of active force dipoles, are a paradigmatic active matter system whose study provides insights into how chemical driving produces the cellular mechanical forces essential for…
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…