Related papers: Ori-Sense: origami capacitive sensing for soft rob…
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.…
Soft robots employing compliant materials and deformable structures offer great potential for wearable devices that are comfortable and safe for human interaction. However, achieving both structural integrity and compliance for comfort…
An underdeveloped capability in soft robotics is proprioceptive feedback control, where soft actuators can be sensed and controlled using only sensors on the robot's body. Additionally, soft actuators are often unable to support human-scale…
Origami offers a versatile framework for designing morphable structures and soft robots by exploiting the geometry of folds. Tubular origami structures can act as continuum manipulators that balance flexibility and strength. However,…
This work introduces a concept of origami electronic membranes that leverages the design and fabrication of flexible electronics and the mechanical behavior of engineering origami to achieve unique multifunctional, shape-reconfigurable, and…
Soft robotic grippers gently and safely manipulate delicate objects due to their inherent adaptability and softness. Limited by insufficient stiffness and imprecise force control, conventional soft grippers are not suitable for applications…
This study examines a biology-inspired approach of using reconfigurable articulation to reduce the control requirement for soft robotic arms. We construct a robotic arm by assembling Kresling origami modules that exhibit predictable…
In this work, we propose a novel single-end morphing capacitive sensing method for shape tracking, FxC, by combining Folding origami structures and Capacitive sensing to detect the morphing structural motions using state-of-the-art sensing…
We present an approach to overcoming challenges in dynamical dexterity for robots through tunable origami structures. Our work leverages a one-parameter family of flat sheet crease patterns that folds into origami bellows, whose axial…
Tactile sensing is crucial in robotics and wearable devices for safe perception and interaction with the environment. Optical tactile sensors have emerged as promising solutions, as they are immune to electromagnetic interference and have…
Origami has recently emerged as a platform for building functional engineering systems with versatile characteristics that targeted niche applications. One widely utilized origami-based structure is known as the Kresling origami spring…
Soft robotics gripper have shown great promise in handling fragile and geometrically complex objects. However, most existing solutions rely on bulky actuators, complex control strategies, or advanced tactile sensing to achieve stable and…
People are constantly in touch with surfaces in their lives, such as a sofa, armrest, and table, making them natural tactile interfaces. Despite the recent advancements in shape-changing surfaces, current available solutions are often…
The success of soft robots in displaying emergent behaviors is tightly linked to the compliant interaction with the environment. However, to exploit such phenomena, proprioceptive sensing methods which do not hinder their softness are…
Many of the patterns seen in Origami are currently being explored as a platform for building functional engineering systems with versatile characteristics that cater to niche applications in various technological fields. One such pattern is…
Origami offers a promising alternative for designing innovative soft robotic actuators. While features of origami, such as bi-directional motion and structural anisotropy, haven't been extensively explored in the past, this letter presents…
Origami-inspired robots are of particular interest given their potential for rapid and accessible design and fabrication of elegant designs and complex functionalities through cutting and folding of flexible 2D sheets or even strings,…
Three-dimensional shape sensing in soft and continuum robotics is a crucial aspect for stable actuation and control in fields such as Minimally Invasive surgery, as the estimation of complex curvatures while using continuum robotic tools is…
Flexible robotics are capable of achieving various functionalities by shape morphing, benefiting from their compliant bodies and reconfigurable structures. Here we construct and study a class of origami springs generalized from the known…
Accurate shape sensing, only achievable through distributed proprioception, is a key requirement for closed-loop control of soft robots. Low-cost power efficient optoelectronic sensors manufactured from flexible materials represent a…