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Realizing a soft manipulator with biologically comparable flexibility and versatility often requires careful selection of materials and actuation, as well as attentive design of its structure, perception, and control. Here, we report a new…

Almost all robotic systems in use have hard shells, which is limiting in many ways their full potential of physical interaction with humans or their surrounding environment. Robots with soft-shell covers offer an alternative morphology…

Inspired by the snap-through action of a steel hairclip, we propose a design method for in-plane prestressed mechanisms that exhibit biomimetic morphing and high locomotion performance. Compliant bistable flapping mechanisms are fabricated…

Human body motions can be captured as a high-dimensional continuous signal using motion sensor technologies. The resulting data can be surprisingly rich in information, even when captured from persons with limited mobility. In this work, we…

Fluid-based soft actuators are an attractive option for lightweight and human-safe robots. These actuators, combined with fluid pressure force feedback, are in principle a form of series-elastic actuation (SEA), in which nearly all…

Modular soft robots combine the strengths of two traditionally separate areas of robotics. As modular robots, they can show robustness to individual failure and reconfigurability; as soft robots, they can deform and undergo large shape…

Robotic manipulation in unstructured environments requires end-effectors that combine high kinematic dexterity with physical compliance. While traditional rigid hands rely on complex external sensors for safe interaction, electrohydraulic…

Magnetic soft robots have attracted growing interest due to their unique advantages in terms of untethered actuation and excellent controllability. However, finding the required magnetization patterns or magnetic fields to achieve the…

Soft growing robots are proposed for use in applications such as complex manipulation tasks or navigation in disaster scenarios. Safe interaction and ease of production promote the usage of this technology, but soft robots can be…

Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handovers of unknown objects by using learning-based grasp…

As the basis for prehensile manipulation, it is vital to enable robots to grasp as robustly as humans. Our innate grasping system is prompt, accurate, flexible, and continuous across spatial and temporal domains. Few existing methods cover…

Humans can leverage physical interaction to teach robot arms. As the human kinesthetically guides the robot through demonstrations, the robot learns the desired task. While prior works focus on how the robot learns, it is equally important…

Soft robotic manipulators provide numerous advantages over conventional rigid manipulators in fragile environments such as the marine environment. However, developing analytic inverse models necessary for shape, motion, and force control of…

Robots are expected to grasp a wide range of objects varying in shape, weight or material type. Providing robots with tactile capabilities similar to humans is thus essential for applications involving human-to-robot or robot-to-robot…

In recent years, there has been a significant effort dedicated to developing efficient, robust, and general human-to-robot handover systems. However, the area of flexible handover in the context of complex and continuous objects' motion…

Grasping is fundamental to robotic manipulation, and recent advances in large-scale grasping datasets have provided essential training data and evaluation benchmarks, accelerating the development of learning-based methods for robust object…

This paper presents a novel soft robotic system for a deformable mannequin that can be employed to physically realize the 3D geometry of different human bodies. The soft membrane on a mannequin is deformed by inflating several curved…

In this paper we introduce a novel approach that enables users to interact with a mobile robot in a natural manner. The proposed interaction system does not require any specific infrastructure or device, but relies on commonly utilized…

Novel robotic grippers have captured increasing interests recently because of their abilities to adapt to varieties of circumstances and their powerful functionalities. Differing from traditional gripper with mechanical components-made…

Soft robots have drawn great interest due to their ability to take on a rich range of shapes and motions, compared to traditional rigid robots. However, the motions, and underlying statics and dynamics, pose significant challenges to…