相关论文: Patterned Structure Muscle : Arbitrary Shaped Wire…
Functional magnetic composites capable of large deformation, load bearing, and multifunctional motion are essential for next-generation adaptive soft robots. Here, we present muscle-inspired magnetic actuators (MMA), additively manufactured…
The musculoskeletal humanoid has various biomimetic benefits, and it is important that we can embed and evaluate human reflexes in the actual robot. Although stretch reflex has been implemented in lower limbs of musculoskeletal humanoids,…
Continuum arms, such as trunk and tentacle robots, lie between the two extremities of rigid and soft robots and promise to capture the best of both worlds in terms of manipulability, dexterity, and compliance. This paper proposes a new…
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…
Compared to the micro continuum robots that use traditional manufacturing technology, the micro fabricated continuum robots are different in terms of the application of smart materials, additive manufacturing process, and physical field…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
Magnetic-responsive composites that consist of soft matrix embedded with hard-magnetic particles have recently been demonstrated as robust soft active materials for fast-transforming actuation. However, the deformation of the functional…
As the robotics market rapidly evolves, energy consumption has become a critical issue, particularly restricting the application of construction robots. To tackle this challenge, our study innovatively draws inspiration from the mechanics…
Voxel-based structures provide a modular, mechanically flexible periodic lattice which can be used as a soft robot through internal deformations. To engage these structures for robotic tasks, we use a finite element method to characterize…
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…
Particle-based shape modeling (PSM) is a popular approach to automatically quantify shape variability in populations of anatomies. The PSM family of methods employs optimization to automatically populate a dense set of corresponding…
Purpose-This paper is based on design of a quadruped robot and manufacturing it with 3-D printer followed by its detailed analysis. It focuses on the advantages of additive manufacturing rather than conventional manufacturing techniques and…
Work related musculoskeletal disorders (WMSDs) are often caused by repetitive lifting, making them a significant concern in occupational health. Although wearable assist devices have become the norm for mitigating the risk of back pain,…
We present a data-driven framework for the multiscale modeling of anisotropic finite strain elasticity based on physics-augmented neural networks (PANNs). Our approach allows the efficient simulation of materials with complex underlying…
Despite their growing popularity, swarms of robots remain limited by the operating time of each individual. We present algorithms which allow a human to sculpt a swarm of robots into a shape that persists in space perpetually, independent…
With their unique combination of characteristics - an energy density almost 100 times that of human muscle, and a power density of 5.3 kW/kg, similar to a jet engine's output - Nylon artificial muscles stand out as particularly apt for…
Fixed degree-of-freedom (DoF) loading mechanisms often suffer from excessive actuators, complex control, and limited adaptability to dynamic tasks. This study proposes an innovative mechanism of underactuated metamorphic loading…
Various musculoskeletal humanoids have been developed so far, and numerous studies on control mechanisms have been conducted to leverage the advantages of their biomimetic bodies. However, there has not been sufficient and unified…
Wearable exosuits assist human movement in tasks ranging from rehabilitation to daily activities; specifically, head-neck support is necessary for patients with certain neurological disorders. Rigid-link exoskeletons have shown to enable…
Soft robots can revolutionize several applications with high demands on dexterity and safety. When operating these systems, real-time estimation and control require fast and accurate models. However, prediction with first-principles (FP)…