Related papers: Miniature soft robot with magnetically reprogramma…
This paper presents the first steps toward a soft dolphin robot using a bio-inspired approach to mimic dolphin flexibility. The current dolphin robot uses a minimalist approach, with only two actuated cable-driven degrees of freedom…
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…
Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase compliance and increase the range of possible shape…
Fluid-based soft actuators are an attractive option for lightweight and human-safe robots. These actuators, combined with fluid pressure force feedback, are in principle a form of series-elastic actuation (SEA), in which nearly all…
Magnetic response soft robot realizes programmable shape regulation with the help of magnetic field and produces various actions. The shape control of magnetic soft robot is based on the magnetic anisotropy caused by the orderly…
Soft robots offer an alternative approach to manipulate inside the constrained space while maintaining the safe interaction with the external environment. Due to its adaptable compliance characteristic, external contact force can easily…
Untethered magnetic millirobots offer significant potential for minimally invasive cardiac therapies; however, achieving reliable autonomous control in pulsatile cardiac flow remains challenging. This work presents a vision-guided control…
All-around, real-time navigation and sensing across the water environments by miniature soft robotics are promising, for their merits of small size, high agility and good compliance to the unstructured surroundings. In this paper, we…
Spherical rolling robots have garnered significant attention in the field of mobile robotics for applications such as inspection and space exploration. Designing underactuated rolling robots poses challenges in achieving multi-directional…
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…
In narrow, unstructured underwater environments such as environmental monitoring and minimally invasive medical procedures, micro soft robots exhibit unique advantages due to their flexible movement capabilities and small size. At the same…
The physical interaction of aerial robots with their environment has countless potential applications and is an emerging area with many open challenges. Fully-actuated multirotors have been introduced to tackle some of these challenges.…
Soft robots are robotic systems made of deformable materials and exhibit unique flexibility that can be exploited for complex environments and tasks. However, their control problem has been considered a challenging subject because they are…
This paper introduces a learning-based modeling framework for a magnetically steerable soft suction device designed for endoscopic endonasal brain tumor resection. The device is miniaturized (4 mm outer diameter, 2 mm inner diameter, 40 mm…
Common disabilities like stroke and spinal cord injuries may cause loss of motor function in hands. They can be treated with robot assisted rehabilitation techniques, like continuously opening and closing the hand with help of a robot, in a…
Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unintended contact. However, these robots' applied forces result…
Moving a module in a modular robot is a very complex and error-prone process. Unlike in swarm, in the modular robots we are targeting, the moving module must keep the connection to, at least, one other module. In order to miniaturize each…
Rigid robots can be precise in repetitive tasks, but struggle in unstructured environments. Nature's versatility in such environments inspires researchers to develop biomimetic robots that incorporate compliant and contracting artificial…
This paper explores the concept of external magnetic control for vine robots to enable their high curvature steering and navigation for use in endoluminal applications. Vine robots, inspired by natural growth and locomotion strategies,…
Operating robots precisely and at high speeds has been a long-standing goal of robotics research. Balancing these competing demands is key to enabling the seamless collaboration of robots and humans and increasing task performance. However,…