相关论文: Untethered microbot powered by giant magnetoelasti…
Soft robots are promising for manipulation tasks thanks to their compliance, safety, and high degree of freedom. However, the commonly used bidirectional continuum segment design means soft robotic manipulators only function in a limited…
We propose a novel tri-fingered soft robotic gripper with decoupled stiffness and shape control capability for performing adaptive grasping with minimum system complexity. The proposed soft fingers adaptively conform to object shapes…
The recent advancements in nanoscale 3D printing and microfabrication techniques have reinvigorated research on microrobots. However, precise motion control of the microrobots on biological environments using compact actuation setups…
Soft elastic composite materials containing particulate rigid inclusions in a soft elastic matrix are candidates for developing soft actuators or tunable damping devices. The possibility to reversibly drive the rigid inclusions within such…
We derive a model for the finite motion of a magneto-elastic rod reinforced with isotropic (spherical) or anisotropic (ellipsoidal) inclusions. The particles are assumed weakly and uniformly magnetised, rigid and firmly embedded into the…
Soft robots are known for their ability to perform tasks with great adaptability, enabled by their distributed, non-uniform stiffness and actuation. Bending is the most fundamental motion for soft robot design, but creating robust, and…
Developing kinesthetic haptic devices with advanced haptic rendering capabilities is challenging due to the limitations on driving mechanisms. In this study, we introduce a novel soft electrohydraulic actuator and develop a kinesthetic…
Flexible robots have advantages over rigid robots in their ability to conform physically to their environment and to form a wide variety of shapes. Sensing the force applied by or to flexible robots is useful for both navigation and…
Many organisms leverage an interplay between shape and activity to generate motion and adapt to their environment. Embedding such feedback into synthetic microrobots could eliminate the need for sensors, software, and actuators, yet current…
Common disabilities like stroke and spinal cord injuries may cause loss of motor function in hands. They can be treated with robot assisted rehabilitation techniques, like continuously opening and closing the hand with help of a robot, in a…
Exceptionally large strains can be produced in soft elastomers by the application of an electric field and the strains can be exploited for a variety of novel actuators, such as tunable lenses and tactile actuators. However, shape morphing…
Soft Robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced…
Soft robots are capable of inherently safer interactions with their environment than rigid robots since they can mechanically deform in response to unanticipated stimuli. However, their complex mechanics can make planning and control…
A key challenge in robotics is to create efficient methods for grasping objects with diverse shapes, sizes, poses, and properties. Grasping with hand-like end effectors often requires careful selection of hand orientation and finger…
Electromagnetic systems have been used extensively for the control magnetically actuated objects, such as in microrheology and microrobotics research. Therefore, optimizing the design of such systems is highly desired. Some of the features…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
We provide a clear energetic insight into the catastrophic nature of the so-called creasing and pull-in instabilities in soft electro-active elastomers. These phenomena are ubiquitous for thin electro-elastic plates and are a major obstacle…
Micro-organisms propel themselves in viscous environments by the periodic, nonreciprocal beating of slender appendages known as flagella. Active materials have been widely exploited to mimic this form of locomotion. However, the realization…
We detail a technique to produce actuators able to bear large strain and respond to an external magnetic field. The material used is PDMS reinforced with nickel coated carbon fibres. Thanks to the nickel functionalisation, the fibre…
The ability to propel against flows, i.e., to perform positive rheotaxis, can provide exciting opportunities for applications in targeted therapeutics and non-invasive surgery. To date, no biocompatible technologies exist for navigating…