Related papers: REWW-ARM -- Remote Wire-Driven Mobile Robot: Desig…

Remote robotic-assisted endovascular intervention offers a promising approach to reduce clinician radiation exposure and physical strain, while extending specialized vascular care to geographically distant regions. Despite advancements,…

This work tackles practical issues which arise when using a tendon-driven robotic manipulator (TDRM) with a long, flexible, passive proximal section in medical applications. Tendon-driven devices are preferred in medicine for their improved…

Fish have endured millions of years of evolution, and their distinct rigid-flexible body structures offer inspiration for overcoming challenges in underwater robotics, such as limited mobility, high energy consumption, and adaptability.…

Regardless of their industrial or research application, the streamlining of robot operations is limited by the proximity of experienced users to the actual hardware. Be it massive open online robotics courses, crowd-sourcing of robot task…

Moving a human body or a large and bulky object can require the strength of whole arm manipulation (WAM). This type of manipulation places the load on the robot's arms and relies on global properties of the interaction to succeed---rather…

In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction perspective, where a robot must not only stay inside a…

In most macro-scale robotics systems , propulsion and controls are enabled through a physical tether or complex on-board electronics and batteries. A tether simplifies the design process but limits the range of motion of the robot, while…

A new fluid-driven soft robot hand in this study uses the idea of the bionics and has the anthropomorphic form, which is oriented to the flexible grasp function. The soft robot hand is composed of a new kind of multi-freedom soft finger and…

Robots that physically interact with their surroundings, in order to accomplish some tasks or assist humans in their activities, require to exploit contact forces in a safe and proficient manner. Impedance control is considered as a…

When a mobile robot lacks high onboard computing or networking capabilities, it can rely on remote computing architecture for its control and autonomy. This paper introduces a novel collaborative Simulation Twin (ST) strategy for control…

Robotic manipulators capable of regulating both compliance and stiffness offer enhanced operational safety and versatility. Here, we introduce Worm Gear-based Adaptive Variable Elasticity (WAVE), a variable stiffness actuator (VSA) that…

This paper considers the problem of enabling the user to modify the path of a telepresence robot. The robot is capable of autonomously navigating to a goal predefined by the user, but the user might still want to modify the path, for…

As the presence of autonomous robots in public spaces increases-whether navigating campus walkways or neighborhood sidewalks-understanding how to carefully study these robots becomes critical. While HRI research has conducted field studies…

Humanoid robots are capable of performing various actions such as greeting, dancing and even backflipping. However, these motions are often hard-coded or specifically trained, which limits their versatility. In this work, we present…

Torque and continuous rotation are fundamental methods of actuation and manipulation in rigid robots. Soft robot arms use soft materials and structures to mimic the passive compliance of biological arms that bend and extend. This use of…

Wireless bioelectronic interfaces are increasingly used to control tissue-engineered biohybrid robotic systems. However, a unifying engineering framework linking device design to system-level control remains underdeveloped. Here, we propose…

In cable driven parallel robots (CDPRs), the payload is suspended using a network of cables whose length can be controlled to maneuver the payload within the workspace. Compared to rigid link robots, CDPRs provide better maneuverability due…

Soft robotic systems have gained widespread attention due to their inherent flexibility, adaptability, and safety, making them well-suited for varied applications. Among bioinspired designs, earthworm locomotion has been extensively studied…

We present a low-cost legged mobile manipulation system that solves long-horizon real-world tasks, trained by reinforcement learning purely in simulation. This system is made possible by 1) a hierarchical design of a high-level policy for…

We demonstrate a robot-assisted feeding system that enables people with mobility impairments to feed themselves. Our system design embodies Safety, Portability, and User Control, with comprehensive full-stack safety checks, the ability to…