相关论文: Directly 3D Printed, Pneumatically Actuated Multi-…
Soft robotics has emerged as a promising field with the potential to revolutionize industries such as healthcare and manufacturing. However, designing effective soft robots presents challenges, particularly in managing the complex interplay…
A new method is presented to manufacture piezoresistive tactile sensors using fused deposition modelling (FDM)printing technology with two different filaments made of thermoplastic polyurethane (TPU) and polylactic acid-graphene (PLA-G)…
Supernumerary Robotic Limbs (SRLs) are wearable robots augmenting human capabilities by acting as a co-worker, reaching objects, support human arms, etc. However, existing SRLs lack the mechanical backdrivability and bandwidth required for…
Miniature robots are untethered actuators, which have significant potential to make existing minimally invasive surgery considerably safer and painless, and enable unprecedented treatments because they are much smaller and dexterous than…
Wearable robotics bring the opportunity to augment human capability and performance, be it through prosthetics, exoskeletons, or supernumerary robotic limbs. The latter concept allows enhancing human performance and assisting them in daily…
Humans coordinate the abundant degrees of freedom (DoFs) of hands to dexterously perform tasks in everyday life. We imitate human strategies to advance the dexterity of multi-DoF robotic hands. Specifically, we enable a robot hand to grasp…
Application of soft and compliant joints in grasping mechanisms received an increasing attention during recent years. This article suggests the design and development of a novel bio-inspired compliant finger which is composed of a 3D…
This paper presents the Krysalis Hand, a five-finger robotic end-effector that combines a lightweight design, high payload capacity, and a high number of degrees of freedom (DoF) to enable dexterous manipulation in both industrial and…
This paper introduces a novel design for a robotic hand based on parallel mechanisms. The proposed hand uses a triple-symmetric Bricard linkage as its reconfigurable palm, enhancing adaptability to objects of varying shapes and sizes.…
We outline the design and construction of novel robotic arms using machine perception, convolutional neural networks, and symbolic AI for logical control and affordance indexing. We describe our robotic arms built with a humanlike…
The ability of robotic grippers to not only grasp but also re-position and re-orient objects in-hand is crucial for achieving versatile, general-purpose manipulation. While recent advances in soft robotic grasping has greatly improved grasp…
Conventional soft pneumatic actuators, typically based on hollow elastomeric chambers, often suffer from small structural support and require costly geometry-specific redesigns for multimodal functionality. Porous materials such as foam,…
We seek to augment human manipulation by enabling humans to control two robotic arms in addition to their natural arms using their feet. Thereby, the hands are free to perform tasks of high dexterity, while the feet-controlled arms perform…
Aging populations and the rising prevalence of neurological and musculoskeletal disorders increase the demand for wearable mobility assistive devices that are effective, comfortable, and anatomically compatible. Many existing systems use…
Traditional robotic mechanisms contain a series of rigid links connected by rotational joints that provide powered motion, all of which is controlled by a central processor. By contrast, analogous mechanisms found in nature, such as octopus…
This paper presents the DeltaZ robot, a centimeter-scale, low-cost, delta-style robot that allows for a broad range of capabilities and robust functionalities. Current technologies allow DeltaZ to be 3D-printed from soft and rigid materials…
This paper proposes a novel robotic hand design for assembly tasks. The idea is to combine two simple grippers -- an inner gripper which is used for precise alignment, and an outer gripper which is used for stable holding. Conventional…
Robotic surgery and novel surgical instrumentation present great potentials towards safer, more accurate and consistent minimally invasive surgery. However, their adoption is dependent to the access to training facilities and extensive…
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…
Practical use of robotic manipulators made from soft materials requires generating and executing complex motions. We present the first approach for generating trajectories of a thermally-actuated soft robotic manipulator. Based on…