相关论文: Stretchable Pneumatic Sleeve for Adaptable, Low-Di…

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…

Human-like motion is a primary goal for many robotic assistive devices. Emulating the strategy of the human neuromuscular system may aid the control of such powered devices, yet many challenges remain. In this study, we investigated the…

Cardiopulmonary resuscitation (CPR) is a critical life-saving procedure, and effective training benefits from self-directed practice beyond instructor-led sessions. In this paper, we propose a closed-loop CPR training glove that integrates…

Individuals with spinal cord injury (SCI) and stroke who is lack of manipulation capability have a particular need for robotic hand exoskeletons. Among assistive and rehabilitative medical exoskeletons, there exists a sharp trade-off…

Spring Loaded Inverted Pendulum (SLIP) model has a long history in describing running behavior in animals and humans as well as has been used as a design basis for robots capable of dynamic locomotion. Anchoring the SLIP for lossy physical…

In this paper, we explore how techniques from soft robotics can help create a new form of robot expression. We present Sprout, a soft expressive robot that conveys its internal states by changing its body shape. Sprout can extend, bend,…

Stretchable sensors indicate promising prospects for soft robotics, medical devices, and human-machine interactions due to the high compliance of soft materials. Discrete sensing strategies, including sensor arrays and distributed sensors,…

Variable stiffness actuators undergo lower peak force in contacts compared to their rigid counterparts, and are thus safer for human-robot interaction. Furthermore, they can store energy in their elastic element and can release it later to…

We describe a fluidic actuator design that replaces the sealed chamber of a hydraulic cylinder using a soft actuator to provide compliant linear compression with a large force ($\geq$100 N) at a low operation pressure ($\leq$50 kPa) for a…

Handed Shearing Auxetics (HSA) are a promising structure for making electrically driven robots with distributed compliance that convert a motors rotation and torque into extension and force. We overcame past limitations on the range of…

In this paper we consider a class of exoskeletons designed to amplify the strength of humans through feedback of sensed human-robot interactions and actuator forces. We define an amplification error signal based on a reference amplification…

Robust and energy-efficient bipedal locomotion in robotics is still a challenging topic. In order to address issues in this field, we can take inspiration from nature, by studying human locomotion. The Spring-Loaded Inverted Pendulum (SLIP)…

Artificial muscles embody human aspirations for engineering lifelike robotic movements. This paper introduces an architecture for Inflatable Fluid-Driven Origami-Inspired Artificial Muscles (IN-FOAMs). A typical IN-FOAM consists of an…

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…

Soft robotic suits have the potential to rehabilitate, assist, and augment the human body. The low weight, cost, and minimal form-factor of these devices make them ideal for daily use by both healthy and impaired individuals. However,…

The development of wearable sensing systems for sports performance tracking, rehabilitation, and injury prevention has driven growing demand for smart garments that combine comfort, durability, and accurate motion detection. This paper…

Novel robotic grippers have captured increasing interests recently because of their abilities to adapt to varieties of circumstances and their powerful functionalities. Differing from traditional gripper with mechanical components-made…

We present a novel pneumatic augmentation to traditional electric motor-actuated legged robot to increase intermittent power density to perform infrequent explosive hopping behaviors. The pneumatic system is composed of a pneumatic pump, a…

A new apparatus and method is proposed for the investigation of material behavior under high-strain-rate tensile loads. We refer this apparatus as a Split Flying Bar. The method is based on using the inertia of a working mass attached to a…

Soft robotics technologies have gained growing interest in recent years, which allows various applications from manufacturing to human-robot interaction. Pneumatic artificial muscle (PAM), a typical soft actuator, has been widely applied to…