相关论文: Soft Fluidic Closed-Loop Controller for Untethered…
We present the CyberDiver, an untethered robotic impactor capable of actively modulating the fluid physics during high-speed water entry. First, we utilize the CyberDiver to extend our understanding of the water entry of passively flexible…
In the application of underwater creature study, comparing with propeller-powered ROVs and servo motor actuated robotic fish, novel biomimetic fish robot designs with soft actuation structure could interact with aquatic creatures closely…
Research on the co-optimization of soft robotic design and control requires rapid means for real-world validation. Existing creation pipelines do not allow for the swift prototyping of soft robots to quickly test various design…
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…
Robotic systems show significant promise for water environmental sensing applications such as water quality monitoring, pollution mapping and biodiversity data collection. Conventional deployment methods often disrupt fragile ecosystems,…
Soft robotics hold promise in the development of safe yet powered assistive wearable devices for infants. Key to this is the development of closed-loop controllers that can help regulate pneumatic pressure in the device's actuators in an…
Electrostatic actuators provide a promising approach to creating soft robotic sheets, due to their flexible form factor, modular integration, and fast response speed. However, their control requires kilo-Volt signals and understanding of…
Soft robotic manipulators are generally slow despite their great adaptability, resilience, and compliance. This limitation also extends to current soft robotic micromanipulators. Here, we introduce FilMBot, a 3-DOF film-based,…
Soft robotic manipulators offer operational advantage due to their compliant and deformable structures. However, their inherently nonlinear dynamics presents substantial challenges. Traditional analytical methods often depend on simplifying…
Achieving both agile maneuverability and high energy efficiency in aerial robots, particularly in dynamic wind environments, remains challenging. Conventional thruster-powered systems offer agility but suffer from high energy consumption,…
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…
True microrobots, in contrast with externally controlled microparticles, must harvest or carry their own source of energy, as well as their own (preferably programmable) microcontroller of actuators for locomotion, using information…
Although soft robots show safer interactions with their environment than traditional robots, soft mechanisms and actuators still have significant potential for damage or degradation particularly during unmodeled contact. This article…
A remarkable variety of organisms use metachronal coordination (i.e., numerous neighboring appendages beating sequentially with a fixed phase lag) to swim or pump fluid. This coordination strategy is used by microorganisms to break symmetry…
Recent advancements in soft actuators have enabled soft continuum swimming robots to achieve higher efficiency and more closely mimic the behaviors of real marine animals. However, optimizing the design and control of these soft continuum…
The ignition of flammable liquids and gases in offshore oil and gas environments is a major risk and can cause loss of life, serious injury, and significant damage to infrastructure. Power supplies that are used to provide regulated…
This study proposes a soft robotic device with a slim and flexible body that switches between air blowing and suction with a single airflow control. Suction is achieved by jet flow entraining surrounding air, and blowing is achieved by…
Mechanically characterizing the human-machine interface is essential to understanding user behavior and optimizing wearable robot performance. This interface has been challenging to sensorize due to manufacturing complexity and non-linear…
Many marine creatures, gastropods, and earthworms generate continuous traveling waves in their bodies for locomotion within marine environments, complex surfaces, and inside narrow gaps. In this work, we study theoretically and…
Compared to traditional rigid robotics, soft robotics has attracted increasing attention due to its advantages as compliance, safety, and low cost. As an essential part of soft robotics, the soft robotic gripper also shows its superior…