相关论文: A Generalized Modeling Approach to Liquid-driven B…
Many marine creatures, gastropods, and earthworms generate continuous traveling waves in their bodies for locomotion within marine environments, complex surfaces, and inside narrow gaps. In this work, we study theoretically and…
Fluidically actuated soft robots have promising capabilities such as inherent compliance and user safety. The control of soft robots needs to properly handle nonlinear actuation dynamics, motion constraints, workspace limitations, and…
Medical applications of robots are increasingly popular to objectivise and speed up the execution of several types of diagnostic and therapeutic interventions. Particularly important is a class of diagnostic activities that require physical…
The disassembly of small household appliances poses significant challenges due to their complex and curved geometries, which render traditional rigid fixtures inadequate. In this paper, we propose a modular vacuum-based fixturing system…
In the field of soft robotics, flexibility, adaptability, and functionality define a new era of robotic systems that can safely deform, reach, and grasp. To optimize the design of soft robotic systems, it is critical to understand their…
The development of porous polymeric membranes remains a labor-intensive process, often requiring extensive trial and error to identify optimal fabrication parameters. In this study, we present a fully automated platform for membrane…
The pseudopotential lattice Boltzmann method (LBM) is a prominent approach for simulating multiphase flows, valued for its physical intuitiveness and computational tractability. However, existing immiscible pseudopotential methods for…
Fish-inspired aquatic robots are gaining increasing attention in marine robot communities due to their high swimming speeds and efficient propulsion enabled by flexible bodies that generate undulatory motions. To support the design…
Mechanically characterizing the human-machine interface is essential to understanding user behavior and optimizing wearable robot performance. This interface has been challenging to sensorize due to manufacturing complexity and non-linear…
This article presents a novel SOFA based finite element method for the soft body modeling and the corresponding dynamic simulation and control of a pneumatic morphing soft quadrotor. The proposed modeling preserves the physical…
We propose a deep visuo-tactile model for realtime estimation of the liquid inside a deformable container in a proprioceptive way.We fuse two sensory modalities, i.e., the raw visual inputs from the RGB camera and the tactile cues from our…
Because diffusion models have shown impressive performances in a number of tasks, such as image synthesis, there is a trend in recent works to prove (with certain assumptions) that these models have strong approximation capabilities. In…
Rapid acceleration and burst maneuvers in underwater robots depend less on maintaining precise resonance and more on force--velocity phase alignment during thrust generation. In this work, we investigate constrained-layer damping (CLD) as a…
Task-driven design of soft robots requires models that are physically accurate and computationally efficient, while remaining transferable across actuator designs and task scenarios. However, existing modeling approaches typically face a…
Soft robots have been increasingly utilized as sophisticated tools in physical rehabilitation, particularly for assisting patients with neuromotor impairments. However, many soft robotics for rehabilitation applications are characterized by…
This paper presents a passive control method for multiple degrees of freedom in a soft pneumatic robot through the combination of flow resistor tubes with series inflatable actuators. We designed and developed these 3D printed resistors…
We employ a novel computational modeling framework to perform high-fidelity direct numerical simulations of aero-structural interactions in bat-inspired membrane wings. The wing of a bat consists of an elastic membrane supported by a highly…
Control of soft robotic manipulators remains a challenge for designs with advanced capabilities and novel actuation. Two significant limitations are multi-axis, three-dimensional motion of soft bodies alongside actuator dynamics and…
The development of algorithms for automation of subtasks during robotic surgery can be accelerated by the availability of realistic simulation environments. In this work, we focus on one aspect of the realism of a surgical simulator, which…
While soft robot manipulators offer compelling advantages over rigid counterparts, including inherent compliance, safe human-robot interaction, and the ability to conform to complex geometries, accurate forward modeling from low-dimensional…