相关论文: Self-regulated photoresponsive heterogeneous PNIPA…
This paper presents a unified framework to analyze the manipulability and compliance of modular soft-rigid hybrid robotic fingers. The approach applies to both hydraulic and pneumatic actuation systems. A Jacobian-based formulation maps…
The thermosensitive behavior of microgel particles suspended in solvents, i.e. their temperature-dependent swelling properties, has triggered ongoing interest in industry and academia over the past forty years. The most-studied polymer is…
Bilayer bending based soft actuators are widely utilized in soft robotics for locomotion and object gripping. However, studies on soft actuators based on bilayer doming remain largely unexplored despite the often-observed dome-like shapes…
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…
An underdeveloped capability in soft robotics is proprioceptive feedback control, where soft actuators can be sensed and controlled using only sensors on the robot's body. Additionally, soft actuators are often unable to support human-scale…
In this study, an inhomogeneous Cosserat rod theory is introduced and compared to the conventional homogeneous rod for modeling soft manipulators. The inhomogeneity is addressed by considering the pressure actuation as part of the rod's…
Grasping object,whether they are flat, round, or narrow and whether they have regular or irregular shapes,introduces difficulties in determining the ideal grasping posture, even for the most state-of-the-art grippers. In this article, we…
It is challenging to perform system identification on soft robots due to their underactuated, high-dimensional dynamics. In this work, we present a data-driven modeling framework, based on geometric mechanics (also known as gauge theory)…
Soft parallel robots with their manipulation safety and low commercial cost show a promising future for delicate operations and safe human-robot interactions. However, promoting the use of electroactive polymers (EAPs) is still challenging…
We present two concepts of deformable mirror to compensate for first order optical aberrations. Deformation systems are designed using both elasticity theory and Finite Element Analysis in order to minimize the number of actuators. Starting…
Hypotheses: Additives are commonly used to tune macromolecular conformational transitions. Among additives, trehalose is an excellent bioprotectant and among responsive polymers, PNIPAM is the most studied material. Nevertheless, their…
We combine small angle scattering experiments and simulations to investigate the internal structure and interactions of composite Poly(N-isopropylacrylamide)-Poly(ethylene glycol) (PNIPAM-PEG) microgels. At low temperatures the…
We present an integrated experimental and quantitative theoretical study of the mechanics of self-crosslinked, neutral, repulsive pNIPAM microgel suspensions over concentration (c) range spanning the fluid, glassy and putative "soft jammed"…
Thin elastic sheets bend easily and, if they are patterned with cuts, can deform in sophisticated ways. Here we show that carefully tuning the location and arrangement of cuts within thin sheets enables the design of mechanical actuators…
We synthesize thermoresponsive poly(N-isopropylacrylamide) (PNIPAM) colloidal microgel particles of different stiffnesses by controlling the concentration of crosslinker in a one-pot synthesis method. We employ oscillatory rheology and…
Multi-step pathways, constituted of a sequence of reconfigurations, are central to a wide variety of natural and man-made systems. Such pathways autonomously execute in self-guided processes such as protein folding and self-assembly, but…
Long-term stability of neural interfaces is frequently compromised by mechanical mismatch and chronic neuroinflammation, often leading to electrode detachment and signal failure. While hydrogel coatings offer a solution, conventional…
Soft robotics is a rapidly growing field that spans the fields of chemistry, materials science, and engineering. Due to the diverse background of the field, there have been contrasting naming schemes such as 'intelligent', 'smart' and…
The inner structure of polymeric particles critically influences their phase behavior and functionality, governing their mechanical properties and their physical and chemical interactions. For thermoresponsive microgels, i.e. colloidal…
Soft robots - due to their intrinsic flexibility of the body - can adaptively navigate unstructured environments. One of the most popular locomotion gaits that has been implemented in soft robots is undulation. The undulation motion in soft…