Related papers: Geometry-based pneumatic actuators for soft roboti…
Soft robots have found extensive applications in the medical field, particularly in rehabilitation exercises, assisted grasping, and artificial organs. Despite significant advancements in simulating various components of the digestive…
Soft robots are powerful tools for manipulating delicate objects, yet their adoption is hindered by two gaps: the lack of integrated tactile sensing and sensor signal distortion caused by actuator deformations. This paper addresses these…
Soft grippers are receiving growing attention due to their compliance-based interactive safety and dexterity. Hybrid gripper (soft actuators enhanced by rigid constraints) is a new trend in soft gripper design. With right structural…
Soft robotics has emerged as a promising technology that holds great potential for various application areas. This is due to soft materials unique properties, including flexibility, safety, and shock absorption, among others. Despite many…
Voxel-based structures provide a modular, mechanically flexible periodic lattice which can be used as a soft robot through internal deformations. To engage these structures for robotic tasks, we use a finite element method to characterize…
This paper introduces a full system modeling strategy for a syringe pump and soft pneumatic actuators(SPAs). The soft actuator is conceptualized as a beam structure, utilizing a second-order bending model. The equation of natural frequency…
Soft pneumatic actuators (SPA) made from elastomeric materials can provide large strain and large force. The behavior of locally strain-restricted hyperelastic materials under inflation has been investigated thoroughly for shape…
Soft robotics is a swiftly evolving field. Pneumatic actuators are suitable for driving soft robots because of their superior performance. However, their control is challenging due to the hysteresis characteristics. In response to this…
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…
Soft electrothermal actuators are of great interest in diverse application domains for their simplicity, compliance, and ease of control. However, the very nature of thermally induced mechanical actuation sets inherent operation…
This article presents a novel SOFA based finite element method for the soft body modeling and the corresponding dynamic simulation and control of a pneumatic morphing soft quadrotor. The proposed modeling preserves the physical…
This paper presents a novel fabric-based thermal-haptic interface for virtual reality and teleoperation. It integrates pneumatic actuation and conductive fabric with an innovative ultra-lightweight design, achieving only 2~g for each finger…
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…
Incorporating effective tactile sensing and mechanical compliance is key towards enabling robust and safe operation of robots in unknown, uncertain and cluttered environments. Towards realizing this goal, we present a lightweight,…
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…
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…
Object manipulation in robotics faces challenges due to diverse object shapes, sizes, and fragility. Gripper-based methods offer precision and low degrees of freedom (DOF) but the gripper limits the kind of objects to grasp. On the other…
Grasping a variety of objects remains a key challenge in the development of versatile robotic systems. The human hand is remarkably dexterous, capable of grasping and manipulating objects with diverse shapes, mechanical properties, and…
Future NASA lander missions to icy moons will require completely automated, accurate, and data efficient calibration methods for the robot manipulator arms that sample icy terrains in the lander's vicinity. To support this need, this paper…
The design of soft robots is still commonly driven by manual trial-and-error approaches, requiring the manufacturing of multiple physical prototypes, which in the end, is time-consuming and requires significant expertise. To reduce the…