相关论文: A High-frequency, Interaction-induced Pneumatic Os…

Soft robotic grippers are shown to be high effective for grasping unstructured objects with simple sensing and control strategies. However, they are still limited by their speed, sensing capabilities and actuation mechanism. Hence, their…

In this paper, we introduce Haptic-Informed ACT, an advanced robotic system for pseudo oocyte manipulation, integrating multimodal information and Action Chunking with Transformers (ACT). Traditional automation methods for oocyte transfer…

A wide range of microorganisms, e.g. bacteria, propel themselves by rotation of soft helical tails, also known as flagella. Due to the small size of these organisms, viscous forces overwhelm inertial effects and the flow is at low Reynolds…

Soft robotics, with their inherent flexibility and infinite degrees of freedom (DoF), offer promising advancements in human-machine interfaces. Particularly, pneumatic artificial muscles (PAMs) and pneumatic bending actuators have been…

Soft actuators have drawn significant attention from researchers with an inherently compliant design to address the safety issues in physical human-robot interactions. However, they are also vulnerable and pose new challenges in the design,…

The successful implementation of Physical Human-Robot Interaction in industrial environments depends on ensuring safe collaboration between human operators and robotic devices. This necessitates the adoption of measures that guarantee the…

Human collaboration with robots requires flexible role adaptation, enabling the robot to switch between an active leader and a passive follower. Effective role switching depends on accurately estimating human intentions, which is typically…

Soft robotic manipulators are generally slow despite their great adaptability, resilience, and compliance. This limitation also extends to current soft robotic micromanipulators. Here, we introduce FilMBot, a 3-DOF film-based,…

Stroke-induced motor impairment often results in substantial loss of upper-limb function, creating a strong demand for rehabilitation robots that enable safe and transparent physical human-robot interaction (pHRI). Variable stiffness…

Flexible robots have advantages over rigid robots in their ability to conform physically to their environment and to form a wide variety of shapes. Sensing the force applied by or to flexible robots is useful for both navigation and…

Soft robotic actuators are safe and adaptable devices with inherent compliance, which makes them attractive for manipulating delicate and complex objects. Researchers have integrated stiff materials into soft actuators to increase their…

The ability to perform in-hand manipulation still remains an unsolved problem; having this capability would allow robots to perform sophisticated tasks requiring repositioning and reorienting of grasped objects. In this work, we present a…

Generating human-object interactions (HOIs) is critical with the tremendous advances of digital avatars. Existing datasets are typically limited to humans interacting with a single object while neglecting the ubiquitous manipulation of…

This paper proposes a novel pneumatic soft robotic hand that incorporates a mechanism that can switch the airflow path using a single airflow control. The developed hand can control the finger motion and operate the surface friction…

The ability to enter in contact with and manipulate physical objects with a flying robot enables many novel applications, such as contact inspection, painting, drilling, and sample collection. Generally, these aerial robots need more…

Robotic legs have bimodal operations: swing phases when the leg needs to move quickly in the air (high-speed, low-force) and stance phases when the leg bears the weight of the system (low-speed, high-force). Sizing a traditional…

A bio-inspired, passively deployable flap attached to an airfoil by a torsional spring of fixed stiffness can provide significant lift improvements at post-stall angles of attack. In this work, we describe a hybrid active-passive variant to…

Soft robotics is a swiftly evolving field. Pneumatic actuators are suitable for driving soft robots because of their superior performance. However, their control is challenging due to the hysteresis characteristics. In response to this…

This paper presents a compact system, OpenPneu, to support the pneumatic actuation for multi-chambers on soft robots. Micro-pumps are employed in the system to generate airflow and therefore no extra input as compressed air is needed. Our…

This paper presents a novel simulation platform, ZeMa, designed for robotic manipulation tasks concerning soft objects. Such simulation ideally requires three properties: two-way soft-rigid coupling, intersection-free guarantees, and…