相关论文: A New 10-mg SMA-Based Fast Bimorph Actuator for Mi…
Miniaturization of devices inculcates the need for small-sized actuators. Actuators in the size of a few centimeters are not uncommon but miniature devices need ones that are less than a few centimeters in dimension. Market for such…
High-performance actuators are crucial to enable mechanical versatility of lower-limb wearable robots, which are required to be lightweight, highly backdrivable, and with high bandwidth. State-of-the-art actuators, e.g., series elastic…
Conformable robotic systems are attractive for applications in which they can be used to actuate structures with large surface areas, to provide forces through wearable garments, or to realize autonomous robotic systems. We present a new…
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…
Microswimmers are sub-millimeter swimming microrobots that show potential as a platform for controllable locomotion in applications including targeted cargo delivery and minimally invasive surgery. To be viable for these target…
This paper proposes a wearable-controlled mobile manipulator system for intelligent smart home assistance, integrating MEMS capacitive microphones, IMU sensors, vibration motors, and pressure feedback to enhance human-robot interaction. The…
Integration of technological solutions aims to improve accuracy, precision and repeatability in farming operations, and biosensor devices are increasingly used for understanding basic biology during livestock production. The aim of this…
The current understanding of motility through body shape deformation of microorganisms and the knowledge of fluid flows at the microscale provides ample examples for mimicry and design of soft microrobots. In this work, a two-dimensional…
Micro-scale swimming robots have been envisaged for many medical applications such as targeted drug delivery, where the microrobot will be expected to navigate in a fluid through channels carrying a payload. Alternatively, in many cases,…
We present a design-scheme for ultra-low power neuromorphic hardware using emerging spin-devices. We propose device models for 'neuron', based on lateral spin valves and domain wall magnets that can operate at ultra-low terminal voltage of…
To increase the awareness and impact, soft robotics needs to go beyond the lab environment and should be readily accessible to those even with no robotic expertise. However, most prevailing manufacturing methodologies require either…
While its biological significance is well-documented, its application in soft robotics, particularly for the transport of fragile and irregularly shaped objects, remains underexplored. This study presents a modular soft robotic actuator…
The development of fast and strong microactuators that can be integrated in microdevices is an essential challenge due to a lack of appropriate driving principles. In this paper, a membrane actuator powered by internal combustion of…
This paper presents the design, fabrication, and experimental characterization of a peristaltic micropump. The micropump is composed of two layers fabricated from polydimethylsiloxane (PDMS) material. The first layer has a rectangular…
When swimming at low Reynolds numbers, inertial effects are negligible and reciprocal movements cannot induce net motion. Instead, symmetry breaking is necessary to achieve net propulsion. Directed swimming can be supported by magnetic…
Microrobots show great potential in biomedical applications such as drug delivery and cell manipulations. However, current microrobots are mostly fabricated as a single entity and type and the tasks they can perform are limited. In this…
We present an automated procedure for the design of optimal actuation for flagellar magnetic microswimmers based on numerical optimization. Using this method, a new magnetic actuation method is provided which allows these devices to swim…
Untethered soft robots that locomote using electrothermally-responsive materials like shape memory alloy (SMA) face challenging design constraints for sensing actuator states. At the same time, modeling of actuator behaviors faces steep…
The recent advancements in nanoscale 3D printing and microfabrication techniques have reinvigorated research on microrobots. However, precise motion control of the microrobots on biological environments using compact actuation setups…
Soft robots have immense potential given their inherent safety and adaptability, but challenges in soft actuator forces and design constraints have limited scaling up soft robots to larger sizes. Electrothermal shape memory alloy (SMA)…