相关论文: Origami-inspired Bi-directional Actuator with Orth…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
Snapping instabilities in soft structures offer a powerful pathway to achieve rapid and energy-efficient actuation. In this study, an eccentric dome-shaped snapping actuator is developed to generate controllable asymmetric motion through…
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…
Shape-morphing capabilities are crucial for enabling multifunctionality in both biological and artificial systems. Various strategies for shape morphing have been proposed for applications in metamaterials and robotics. However, few of…
Reconfigurable mechanical systems enable precise programmable control over structural properties, opening new opportunities in architected materials, adaptive devices, and multifunctional structures. Here, we introduce elastic rod origami…
Soft pneumatic actuators have seen applications in many soft robotic systems, and their pressure-driven nature presents unique challenges and opportunities for controlling their motion. In this work, we present a new concept: designing and…
The ancient paper craft of kirigami has recently emerged as a potential tool for the design of functional materials. Inspired by the kirigami concept, we propose a class of kirigami-based metamaterials whose electromagnetic functionalities…
Soft robots have found extensive applications in the medical field, particularly in rehabilitation exercises, assisted grasping, and artificial organs. Despite significant advancements in simulating various components of the digestive…
Bio-inspired soft robots have already shown the ability to handle uncertainty and adapt to unstructured environments. However, their availability is partially restricted by time-consuming, costly and highly supervised design-fabrication…
This paper presents a passive control method for multiple degrees of freedom in a soft pneumatic robot through the combination of flow resistor tubes with series inflatable actuators. We designed and developed these 3D printed resistors…
Robotic arms are essential to modern industries, however, their adaptability to unstructured environments remains limited. Soft robotic arms, particularly those actuated pneumatically, offer greater adaptability in unstructured environments…
Soft robots are known for their ability to perform tasks with great adaptability, enabled by their distributed, non-uniform stiffness and actuation. Bending is the most fundamental motion for soft robot design, but creating robust, and…
Origami crease patterns are folding paths that transform flat sheets into spatial objects. Origami patterns with a single degree of freedom (DOF) have creases that fold simultaneously. More often, several substeps are required to…
Screw-based locomotion is a robust method of locomotion across a wide range of media including water, sand, and gravel. A challenge with screws is their significant number of impactful design parameters that affect locomotion performance.…
Wheeled robots are highly efficient in human living environments. However, conventional wheeled designs, limited by degrees of freedom, struggle to meet varying footprint needs and achieve omnidirectional mobility. This paper proposes a…
We present a simple, accessible method for autonomously transforming flat plastic sheets into intricate three-dimensional structures using only uniform heating and common tools such as household ovens and scissors. Our approach combines…
Magnetic response soft robot realizes programmable shape regulation with the help of magnetic field and produces various actions. The shape control of magnetic soft robot is based on the magnetic anisotropy caused by the orderly…
The interaction between elasticity and capillarity is used to produce three dimensional structures, through the wrapping of a liquid droplet by a planar sheet. The final encapsulated 3D shape is controlled by tayloring the initial geometry…
A novel design of an elastic metamaterial with anisotropic mass density is proposed to manipulate flexural waves at a subwavelength scale. The three-dimensional metamaterial is inspired by kirigami, which can be easily manufactured by…
Effective rehabilitation methods are essential for the recovery of lower limb dysfunction caused by stroke. Nowadays, robotic exoskeletons have shown great potentials in rehabilitation. Nevertheless, traditional rigid exoskeletons are…