相关论文: Miniaturized Circuitry for Capacitive Self-sensing…
A challenge in soft robotics and soft actuation is the determination of an elastic system which spontaneously recovers its trivial path during postcritical deformation after a bifurcation. The interest in this behaviour is that a…
Since soft robotics are composed of compliant materials, they perform better than conventional rigid robotics in specific fields, such as medical applications. However, the field of soft robotics is fairly new, and the design process of…
Soft robots have garnered significant attention due to their promising applications across various domains. A hallmark of these systems is their bilayer structure, where strain mismatch caused by differential expansion between layers…
Acoustic metamaterials offer exceptional control over wave propagation, but their potential remains unfulfilled due to fabrication constraints. Conventional processes yield mostly rigid, planar structures, whereas soft-matter alternatives…
Being aware of our body has great importance in our everyday life. This is the reason why we know how to move in a dark room or to grasp a complex object. These skills are important for robots as well, however, robotic bodily awareness is…
Flexible endoscopic robots enable minimally invasive access through natural orifices, but their control accuracy is limited by configuration-dependent hysteresis in the tendon-sheath mechanisms (TSMs). Tendon-sheath friction and tendon…
This work introduces Ori-Sense, a compliant capacitive sensor inspired by the inverted Kresling origami pattern. The device translates torsional deformation into measurable capacitance changes, enabling proprioceptive feedback for soft…
This work introduces the Monolithic Unit (MU), an actuator-lattice-sensor building block for soft robotics. The MU integrates pneumatic actuation, a compliant lattice envelope, and candidate sites for optical waveguide sensing into a single…
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…
Electroadhesive clutches are electrically controllable switchable adhesives commonly used in soft robots and haptic user interfaces. They can form strong bonds to a wide variety of surfaces at low power consumption. However, electroadhesive…
Superconducting diodes enable dissipationless directional transport, yet achieving electrical tunability and scalability remains a major challenge for circuit-level integration. Here, we demonstrate an electrothermal-switch superconducting…
Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase compliance and increase the range of possible shape…
Intrinsically elastic robots surpass their rigid counterparts in a range of different characteristics. By temporarily storing potential energy and subsequently converting it to kinetic energy, elastic robots are capable of highly dynamic…
The Piecewise Constant Curvature (PCC) model is the most widely used soft robotic modeling and control. However, the PCC fails to accurately describe the deformation of the soft robots when executing dynamic tasks or interacting with the…
Soft robots can exhibit better performance in specific tasks compared to conventional robots, particularly in healthcare-related tasks. However, the field of soft robotics is still young, and designing them often involves mimicking natural…
Soft robots have become increasingly popular for complex manipulation tasks requiring gentle and safe contact. However, their softness makes accurate control challenging, and high-fidelity sensing is a prerequisite to adequate control…
The morphology of a slender soft-robot can be modified by sensing its shape via sensors and exerting moments via actuators embedded along its body. The actuating moments required to morph these soft-robots to a desired shape are often…
Soft electronics have recently gathered considerable interest thanks to their bio-mechanical compatibility. An important feature of such deformable conductors is their electrical response to strain. While development of stretchable…
Traditional methods for achieving high localization accuracy on tactile sensors usually involve a matrix of miniaturized individual sensors distributed on the area of interest. This approach usually comes at a price of increased complexity…
In this paper, a reinforced soft robot prototype with a custom-designed actuator-space string encoder are created to investigate dynamic soft robotic trajectory tracking. The soft robot prototype embedded with the proposed adaptive…