相关论文: Sprout: Designing Expressivity for Robots Using Fi…
Physical therapy (PT) is a key component of many rehabilitation regimens, such as treatments for Parkinson's disease (PD). However, there are shortages of physical therapists and adherence to self-guided PT is low. Robots have the potential…
Soft robotics is attractive for wearable applications that require conformal interactions with the human body. Soft wearable robotic garments hold promise for supplying dynamic compression or massage therapies, such as are applied for…
Embodied reasoning systems integrate robotic hardware and cognitive processes to perform complex tasks, typically in response to a natural language query about a specific physical environment. This usually involves changing the belief about…
Many organisms leverage an interplay between shape and activity to generate motion and adapt to their environment. Embedding such feedback into synthetic microrobots could eliminate the need for sensors, software, and actuators, yet current…
Embodiment of users within robotic systems has been explored in human-robot interaction, most often in telepresence and teleoperation. In these applications, synchronized visuomotor feedback can evoke a sense of body ownership and agency,…
In recent years, quadruped robots have attracted significant attention due to their practical advantages in maneuverability, particularly when navigating rough terrain and climbing stairs. As these robots become more integrated into various…
This study aimed to develop a system that provides vibrotactile feedback corresponding to the emotional content of text when a communication robot speaks. We used OpenAI's "GPT-4o Mini" for emotion estimation, extracting valence and arousal…
Due to their inherent compliance, soft robots are more versatile than rigid linked robots when they interact with their environment, such as object manipulation or biomimetic motion, and considered the key element in introducing robots to…
Adapting upper-limb impedance (i.e., stiffness, damping, inertia) is essential for humans interacting with dynamic environments for executing grasping or manipulation tasks. On the other hand, control methods designed for state-of-the-art…
Designing soft robots poses considerable challenges: automated design approaches may be particularly appealing in this field, as they promise to optimize complex multi-material machines with very little or no human intervention.…
The ability to modify morphology in response to environmental changes represents a highly advantageous feature in biological organisms, facilitating their adaptation to diverse environmental conditions. While some robots have the capability…
In this paper, we propose a novel design of a hybrid mobile robot with controllable stiffness and deformable shape. Compared to conventional mobile agents, our system can switch between rigid and compliant phases by solidifying or melting…
Active soft bodies can affect their shape through an internal actuation mechanism that induces a deformation. Similar to recent work, this paper utilizes a differentiable, quasi-static, and physics-based simulation layer to optimize for…
Recently, researchers have explored control methods that embrace nonlinear dynamic coupling instead of suppressing it. Such designs leverage dynamical coupling for communication between different parts of the robot. Morphological…
Inflated-beam soft robots, such as tip-everting vine robots, can control curvature by contracting one beam side via pneumatic actuation. This work develops a general finite element modeling approach to characterize their bending. The model…
Traditional robots have rigid links and structures that limit their ability to interact with the dynamics of their immediate environment. For example, conventional robot manipulators with rigid links can only manipulate objects using…
The vision of adaptive architecture proposes that robotic technologies could enable interior spaces to physically transform in a bidirectional interaction with occupants. Yet, it is still unknown how this interaction could unfold in an…
The Finite Element Method (FEM) is a powerful modeling tool for predicting soft robots' behavior, but its computation time can limit practical applications. In this paper, a learning-based approach based on condensation of the FEM model is…
Soft Robotics presents a rich canvas for free-form and continuum devices capable of exerting forces in any direction and transforming between arbitrary configurations. However, there is no current way to tractably and directly exploit the…
The demand for social robots in fields like healthcare, education, and entertainment increases due to their emotional adaptation features. These robots leverage multimodal communication, incorporating speech, facial expressions, and…