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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…

Inspired by the vertebrate branch of the animal kingdom, articulated soft robots are robotic systems embedding elastic elements into a classic rigid (skeleton-like) structure. Leveraging on their bodies elasticity, soft robots promise to…

Flexible sensors are increasingly employed in soft robotics and wearable devices to provide proprioception of freeform deformations.Although supervised learning can train shape predictors from sensor signals, prediction accuracy strongly…

The system design and algorithm development of mobile 3D printing robots need a realistic simulation. They require a mobile robot simulation platform to interoperate with a physics-based material simulation for handling interactions between…

Soft robotic hands and grippers are increasingly attracting attention as a robotic end-effector. Compared with rigid counterparts, they are safer for human-robot and environment-robot interactions, easier to control, lower cost and weight,…

To enable robots to develop human-like fine manipulation, it is essential to understand how mechanical compliance, multi-modal sensing, and purposeful interaction jointly shape tactile perception. In this study, we use a dedicated modular…

Rich contact perception is crucial for robotic manipulation, yet traditional tactile skins remain expensive and complex to integrate. This paper presents a scalable alternative: high-accuracy whole-body touch localization via vibro-acoustic…

In this work, a novel soft continuum robot-inspired antenna array is proposed, featuring tentacle-like structures with multiple antenna elements. The proposed array achieves reconfigurability through continuous deformation of its geometry,…

Legged locomotion benefits from embodied sensing, where perception emerges from the physical interaction between body and environment. We present a soft-surfaced, vision-based tactile foot sensor that endows a bipedal robot with a skin-like…

Physics-based simulation is essential for developing and evaluating robot manipulation policies, particularly in scenarios involving deformable objects and complex contact interactions. However, existing simulators often struggle to balance…

The current fabrication and assembly of fluidic circuits for soft robots relies heavily on manual processes; as the complexity of fluidic circuits increases, manual assembly becomes increasingly arduous, error-prone, and timeconsuming. We…

In this paper, we present a touch technology to achieve tactile interactivity for human-robot interaction (HRI) in soft robotics. By combining a capacitive touch sensor with an online solid mechanics simulation provided by the SOFA…

As more robots are implemented for contact-rich tasks, tactile sensors are in increasing demand. For many circumstances, the contact is required to be compliant, and soft sensors are in need. This paper introduces a novelly designed soft…

To adapt to constantly changing environments and be safe for human interaction, robots should have compliant and soft characteristics as well as the ability to sense the world around them. Even so, the incorporation of tactile sensing into…

To design a general-purpose assembly robot system that can handle objects of various shapes, we propose a soft jig that fits to the shapes of assembly parts. The functionality of the soft jig is based on a jamming gripper developed in the…

Textile sensors transform our everyday clothing into a means to track movement and bio-signals in a completely unobtrusive way. One major hindrance to the adoption of "smart" clothing is the difficulty encountered with connections and space…

We present a method for differentiable simulation of soft articulated bodies. Our work enables the integration of differentiable physical dynamics into gradient-based pipelines. We develop a top-down matrix assembly algorithm within…

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…

Soft robots have the ability to adapt to their environment, which makes them suitable for use in disaster areas and agricultural fields, where their mobility is constrained by complex terrain. One of the main challenges in developing soft…

Mechanical metamaterials have continued to offer unprecedented tunability in mechanical properties, but most designs to date have prioritized attaining high stiffness and strength while sacrificing deformability. The emergence of woven…