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Design of robotic systems that safely and efficiently operate in uncertain operational conditions, such as rehabilitation and physical assistance robots, remains an important challenge in the field. Current methods for the design of energy…
Macroscale robotic systems have demonstrated great capabilities of high speed, precise, and agile functions. However, the ability of soft robots to perform complex tasks, especially in centimeter and millimeter scale, remains limited due to…
Soft robots have been increasingly utilized as sophisticated tools in physical rehabilitation, particularly for assisting patients with neuromotor impairments. However, many soft robotics for rehabilitation applications are characterized by…
This paper introduces a novel design method that enhances the force/torque, bendability, and controllability of soft pneumatic actuators (SPAs). The complex structure of the soft actuator is simplified by approximating it as a cantilever…
Dielectric elastomer actuators have become one of the most important smart material transducers in recent times. One of the crucial aspects in this field is the application of bias to find the best operating conditions. The basic task is to…
Force-induced reversible transformations between coiled and normal polymorphs of bacterial flagella have been observed in recent optical-tweezer experiment. We introduce a discrete elastic rod model with two competing helical states…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…
Twisted and coiled polymer actuators (TCPAs) offer the advantages of large stroke and large specific work as compared to other actuators. There have been extensive experimental investigations towards understanding their actuation response,…
Soft robots are well suited for contact-rich tasks due to their compliance, yet this property makes accurate and tractable modeling challenging. Planning motions with dynamically-feasible trajectories requires models that capture arbitrary…
Nonlinear stiffness SEAs (NSEAs) inspired by biological muscles offer promise in achieving adaptable stiffness for assistive robots. While assistive robots are often designed and compared based on torque capability and control bandwidth,…
Data Envelopment Analysis (DEA) is a multi-criteria technique based on linear programming to deal with many real-life problems, mostly in nonprofit organizations. The slacks-based measure (SBM) model is one of the DEA model used to assess…
While its biological significance is well-documented, its application in soft robotics, particularly for the transport of fragile and irregularly shaped objects, remains underexplored. This study presents a modular soft robotic actuator…
Characterizing the softness of deformable materials having partial elastic and partial viscous behaviour via soft lubrication experiments has emerged as a versatile and robust methodology in recent times. However, a straightforward…
Soft robotics is a rapidly growing field that spans the fields of chemistry, materials science, and engineering. Due to the diverse background of the field, there have been contrasting naming schemes such as 'intelligent', 'smart' and…
Simulating soft robots in cluttered environments remains an open problem due to the challenge of capturing complex dynamics and interactions with the environment. Furthermore, fast simulation is desired for quickly exploring robot behaviors…
This paper addresses the closed-loop control of an actuator with both a continuous input variable (motor torque) and a discrete input variable (mode selection). In many applications, robots have to bear large loads while moving slowly and…
Lower Limb Exoskeletons (LLEs) are wearable robots that provide mechanical power to the user. Human-exoskeleton (HE) connections must preserve the user's natural behavior during the interaction, avoiding undesired forces. Therefore,…
Robotic assistance has broadened the capabilities of magnetic resonance imaging (MRI)-guided medical interventions, yet force-controlled actuators tailored for MRI environments remain limited. In this study, we present a novel…
Inspired by the vertebrate branch of the animal kingdom, articulated soft robots are robotic systems embedding elastic elements into a classic rigid (skeleton-like) structure. Leveraging on their bodies elasticity, soft robots promise to…