Related papers: TiBCLaG: A Trigger-induced Bistable Compliant Lapa…
In this work, we study lattice structures that exhibit a bistable behavior, i. e., they can snap from one stable state to another, and are also completely reversible, capable of reverting back to its original state through a heat treatment.…
The application of granular jamming in soft robotics is a recent and promising new technology offer exciting possibilities for creating higher performance robotic devices. Granular jamming is achieved via the application of a vacuum…
Grasp force estimation can help prevent robots from damaging delicate objects during manipulation and improve learning-based robotic control. Integrating force sensing into deformable grippers negotiates trade-offs in cost, complexity,…
Soft robotic grasping has rapidly spread through the academic robotics community in recent years and pushed into industrial applications. At the same time, multimaterial 3D printing has become widely available, enabling the monolithic…
Interactions between active individuals in animal collectives lead to emergent responses that remain elusive in synthetic soft matter. Here, shape-morphing polymers are used to create bio-inspired transient solids that self-assemble with…
Buckling in compression is the archetype of elastic instability: when compressed along its longest dimension, a thin structure such as a playing card will buckle out-of-plane accommodating the imposed compression without a significant…
Inflatable structures used in soft robotics applications exhibit unique characteristics. In particular, the tip-extension structure, which grows from the tip, can grow without friction against the environment. However, these inflatable…
Aggregating base elements into rigid objects such as furniture or sculptures is a great way for designers to convey a specific look and feel. Unfortunately, there is no existing solution to help model structurally sound aggregates. The…
Soft tissue manipulation is an integral aspect of most surgical procedures; however, the vast majority of surgical graspers used today are made of hard materials, such as metals or hard plastics. Furthermore, these graspers predominately…
With recent advances in both responsive materials and fabrication techniques it is now possible to construct integrated functional structures, composed of both structural and active materials. We investigate the robust design of such…
This paper introduces the TacFR-Gripper, a reconfigurable Fin Ray-based soft and compliant robotic gripper equipped with tactile skin, which can be used for dexterous in-hand manipulation tasks. This gripper can adaptively grasp objects of…
This paper presents environment-adaptive pinch-lifting built on a slot-constrained adaptive linkage (SCAL) and instantiated in two complementary fingers: SCAL-R, a rotational-drive design with an active fingertip that folds inward after…
Warehouse robotic systems equipped with vacuum grippers must reliably grasp a diverse range of objects from densely packed shelves. However, these environments present significant challenges, including occlusions, diverse object…
When we develop wearable assistive devices comfort and support are two main issues needed to be considered. In conventional design approaches, the degree of freedom of wearer's joint movement tends to be oversimplified. Accordingly, the…
Auxetic materials become thicker rather than thinner when stretched, exhibiting an unusual negative Poisson's ratio well suited for designing shape transforming metamaterials. Current auxetic designs, however, are often monostable and…
Cabling tasks (pulling, clipping, and plug insertion) are today mostly manual work, limiting the cost-effectiveness of electrification. Feasibility for the robotic grasping and insertion of plugs, as well as the manipulation of cables, have…
Grasping is a core task in robotics with various applications. However, most current implementations are primarily designed for rigid items, and their performance drops considerably when handling fragile or deformable materials that require…
This article presents the design and assembly of a novel magnetically actuated endoscopic laser scanner device. The device is designed to perform 2D position control and high speed scanning of a fiber-based laser for operation in narrow…
Bilayer plates are slender structures made of two thin layers of different materials. They react to environmental stimuli and undergo large bending deformations with relatively small actuation. The reduced model is a constrained…
Compliant mechanisms have significant potential in precision applications due to their ability to guide motion without contact. However, an inherent vulnerability to fatigue and mechanical failure has hindered the translation of compliant…