相关论文: Underwater Soft Robotic Hand with Multi-Source Cou…

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,…

Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscillations are less…

Machines that mimic humans have inspired scientists for centuries. Bio-inspired soft robotic hands are a good example of such an endeavor, featuring intrinsic material compliance and continuous motion to deal with uncertainty and adapt to…

The ocean vast unexplored regions and diverse soft-bodied marine organisms have spurred interest in bio-inspired underwater soft robotics. Recent advances have enabled new capabilities in underwater movement, sensing, and interaction.…

This paper proposes a novel pneumatic soft robotic hand that incorporates a mechanism that can switch the airflow path using a single airflow control. The developed hand can control the finger motion and operate the surface friction…

Safe yet stable grasping requires a robotic hand to apply sufficient force on the object to immobilize it while keeping it from getting damaged. Soft robotic hands have been proposed for safe grasping due to their passive compliance, but…

Underwater vehicles have seen significant development over the past seventy years. However, bio-inspired propulsion robots are still in their early stages and require greater interdisciplinary collaboration between biologists and…

Autonomous grasping remains challenging as unlike humans, robots do not possess a sophisticated sensing nor delicate interaction capability with the real environment. Among other efforts that tried to close the gap between them,…

Soft robotic hand shows considerable promise for various grasping applications. However, the sensing and reconstruction of the robot pose will cause limitation during the design and fabrication. In this work, we present a novel 3D pose…

With soft robotics being increasingly employed in settings demanding high and controlled contact forces, recent research has demonstrated the use of soft robots to estimate or intrinsically sense forces without requiring external sensing…

This paper presents the SoftHand Model-W: a 3D-printed, underactuated, anthropomorphic robot hand based on the Pisa/IIT SoftHand, with an integrated antagonistic tendon mechanism and 2 degree-of-freedom tendon-driven wrist. These four…

Soft underwater robots typically explore bioinspired designs at the expense of power efficiency when compared to traditional underwater robots, which limits their practical use in real-world applications. We leverage a fluidic closed-loop…

Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…

In robotic hand research, minimizing the number of actuators while maintaining human-hand-consistent dimensions and degrees of freedom constitutes a fundamental challenge. Drawing bio-inspiration from human hand kinematic configurations and…

While parallel grippers and multi-fingered robotic hands are well developed and commonly used in structured settings, it remains a challenge in robotics to design a highly articulated robotic hand that can be comparable to human hands to…

Most robotic hands and grippers rely on actuators with large gearboxes and force sensors for controlling gripping force. However, this might not be ideal for tasks which require the robot to interact with an unstructured and/or unknown…

The human hand has an inherent ability to manipulate and re-orientate objects without external assistance. As a consequence, we are able to operate tools and perform an array of actions using just one hand, without having to continuously…

Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, but their precise control remains challenging. In contrast,…

Soft robots have a myriad of potentials because of their intrinsically compliant bodies, enabling safe interactions with humans and adaptability to unpredictable environments. However, most of them have limited actuation speeds, require…

Most robotic hands and grippers rely on actuators with large gearboxes and force sensors for controlling gripping force. However, this might not be ideal for tasks that require the robot to interact with an unstructured and unknown…