相关论文: Adaptable, shape-conforming robotic endoscope
In the fluid dynamics video, we present a microfluidic device to measure the propulsive power of nematodes. The device consists of a tapered conduit filled with aqueous solution. The conduit is subjected to a DC electric field with the…
We present an extremely simplified model of multiple-domains polymer stretching in an atomic force microscopy experiment. We portray each module as a binary set of contacts and decompose the system energy into a harmonic term (the…
Soft robotic systems offer benefits over traditional rigid systems through reduced contact trauma with soft tissues and by enabling access through tortuous paths in minimally invasive surgery. However, the inherent deformability of soft…
In situ tissue biopsy with an endoluminal catheter is an efficient approach for disease diagnosis, featuring low invasiveness and few complications. However, the endoluminal catheter struggles to adjust the biopsy direction by distal…
Quadruped robots are becoming increasingly essential for various applications, including industrial inspection and catastrophe search and rescue. These scenarios require robots to possess enhanced agility and obstacle-navigation skills.…
Pneumatic actuation benefits soft robotics by facilitating compliance, enabling large volume change, and concentrating actuator weight away from the end-effector. However, portability is compromised when pneumatic actuators are tethered to…
Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…
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…
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…
Balloon dilation catheters are often used to quantify the physiological state of peristaltic activity in tubular organs and comment on their ability to propel fluid which is important for healthy human function. To fully understand this…
Robots built from soft materials can alter their shape and size in a particular profile. This shape-changing ability could be extremely helpful for rescue robots and those operating in unknown terrains and environments. In changing shape,…
Precise camera tracking, high-fidelity 3D tissue reconstruction, and real-time online visualization are critical for intrabody medical imaging devices such as endoscopes and capsule robots. However, existing SLAM (Simultaneous Localization…
Ground reaction force sensing is one of the key components of gait analysis in legged locomotion research. To measure continuous force data during locomotion, we present a novel compound instrumented treadmill design. The treadmill is 1.7m…
In otolaryngologic surgery, endoscopy is increasingly used to provide a better view of hard-to-reach areas and to promote minimally invasive surgery. However, the need to manipulate the endoscope limits the surgeon's ability to operate with…
Deformable solid objects such as clay or dough are prevalent in industrial and home environments. However, robotic manipulation of such objects has largely remained unexplored in literature due to the high complexity involved in…
Three-dimensional (3D) AC electro-osmotic (ACEO) pumps have recently been developed that are much faster and more robust than previous planar designs. The basic idea is to create a ``fluid conveyor belt'' by placing opposing ACEO slip…
Soft robotics has emerged as a promising technology that holds great potential for various application areas. This is due to soft materials unique properties, including flexibility, safety, and shock absorption, among others. Despite many…
Despite recent advances in wearable technology, interfacing movement assistance devices with the human body remains challenging. We present a stretchable pneumatic sleeve that can anchor an exosuit actuator to the human arm with a low…
We propose a novel autonomous robotic palpation framework for real-time elastic mapping during tissue exploration using a viscoelastic tissue model. The method combines force-based parameter estimation using a commercial force/torque sensor…
Additive Manufacturing (AM) is a promising solution for handling the complexity of fabricating soft robots. However, the AM of hyperelastic materials is still challenging with a limited material range. Within this work, pellet-based 3D…