相关论文: Shape Programmable Magnetic Pixel Soft Robot

In this paper, we introduce a design principle to develop novel soft modular robots based on tensegrity structures and inspired by the cytoskeleton of living cells. We describe a novel strategy to realize tensegrity structures using planar…

Accurate shape sensing, only achievable through distributed proprioception, is a key requirement for closed-loop control of soft robots. Low-cost power efficient optoelectronic sensors manufactured from flexible materials represent a…

For two decades, NdFeB based magnets have been a critical component in a range of electrical devices engaged in energy production and conversion. The magnet shape and the internal microstructure of the selected NdFeB grade govern their…

Natural organisms can convert environmental stimuli into sensory feedback to regulate their body and realize active adaptivity. However, realizing such a feedback-regulation mechanism in synthetic material systems remains a grand challenge.…

Here, we report on a new class active particles capable of dynamically programmable motion powered by electricity. We have implemented physical principles that separate the propulsion and steering mechanisms of active motion using optically…

This paper proposes a general approach to design automatic controls to manipulate elastic objects into desired shapes. The object's geometric model is defined as the shape feature based on the specific task to globally describe the…

This paper introduces a cube-based reconfigurable robot that utilizes an electromagnet-based actuation framework to reconfigure in three dimensions via pivoting. While a variety of actuation mechanisms for self-reconfigurable robots have…

Robotic systems operating in unstructured environments require the ability to switch between compliant and rigid states to perform diverse tasks such as adaptive grasping, high-force manipulation, shape holding, and navigation in…

Modular small-scale robots offer the potential for on-demand assembly and disassembly, enabling task-specific adaptation in dynamic and constrained environments. However, existing modular magnetic platforms often depend on workspace…

Flexible magnetic devices, i.e., magnetic devices fabricated on flexible substrates, are very attractive in application of detecting magnetic field in arbitrary surface, non-contact actuators, and microwave devices due to the stretchable,…

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…

Nematic elastomers and glasses are solids that display spontaneous distortion under external stimuli. Recent advances in the synthesis of sheets with controlled heterogeneities have enabled their actuation into non-trivial shapes with…

Robotic packaging using wrapping paper poses significant challenges due to the material's complex deformation properties. The packaging process itself involves multiple steps, primarily categorized as folding the paper or creating creases.…

Slender magnetic elements provide a versatile platform for programmable shape-morphing under remote magnetic actuation. However, a general and physically interpretable framework for the inverse design of a `magneto-elastica' under…

Pneumatic soft everting robotic structures have the potential to facilitate human transfer tasks due to their ability to grow underneath humans without sliding friction and their utility as a flexible sling when deflated. Tubular structures…

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…

Fluidically actuated soft robots have promising capabilities such as inherent compliance and user safety. The control of soft robots needs to properly handle nonlinear actuation dynamics, motion constraints, workspace limitations, and…

Soft robotics focuses on designing robots with highly deformable materials, allowing them to adapt and operate safely and reliably in unstructured and variable environments. While soft robots offer increased compliance over rigid body…

Cosserat rod theory is the popular approach to modeling ferromagnetic soft robots as 1-Dimensional (1D) slender structures in most applications, such as biomedical. However, recent soft robots designed for locomotion and manipulation often…

Magnetic actuation enables surgical robots to navigate complex anatomical pathways while reducing tissue trauma and improving surgical precision. However, clinical deployment is limited by the challenges of controlling such systems under…