相关论文: Embroidery Actuator Utilizing Embroidery Patterns …
Bio-inspired soft robots have already shown the ability to handle uncertainty and adapt to unstructured environments. However, their availability is partially restricted by time-consuming, costly and highly supervised design-fabrication…
Kirigami offers unique opportunities for guided morphing by leveraging the geometry of the cuts. This work presents inflatable kirigami crawlers created by introducing cut patterns into heat-sealable textiles to achieve locomotion upon…
A cylindrical rubber fibre subject to twist will also elongate: a manifestation of Poynting's effect in large strain elasticity. Here, we construct an analogous treatment for an active rubber fibre actuated via an axisymmetric pattern of…
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…
Soft actuators are receiving increasing attention from the engineering community, not only in research but even for industrial applications. Among soft actuators, fibre-reinforced Bending Fluidic Actuators (BFAs) became very popular thanks…
The development of wearable sensing systems for sports performance tracking, rehabilitation, and injury prevention has driven growing demand for smart garments that combine comfort, durability, and accurate motion detection. This paper…
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…
This paper introduces a novel design method that enhances the force/torque, bendability, and controllability of soft pneumatic actuators (SPAs). The complex structure of the soft actuator is simplified by approximating it as a cantilever…
Wearable fingertip haptic devices are critical for realistic interaction in virtual reality, augmented reality, and teleoperation, yet existing approaches struggle to simultaneously achieve adequate tactile output, low mass, simple…
To enhance pediatric exosuit design, it is crucial to assess the actuator-generated forces. This work evaluates the contact forces exerted by soft fabric-based pneumatic actuators in an upper extremity pediatric exosuit. Two actuators were…
This paper demonstrates the computational design of soft elastomeric pneumatic actuators using nonlinear topology optimization. An existing density- and porohyperelasticity-based topology optimization framework was extended from 2D to 3D…
The present study presents a new micro electromagnetic actuator utilizing a PDMS membrane with a magnet. The actuator is integrated with micro coils to electromagnetically actuate the membrane and results in a large deflection. The micro…
The first hygroscopic tunable cloth actuator is realized via modification of commercial cloth template by a 3D nanoporous polymer hybrid. The nanoporous hybrid guarantees fast water diffusion and amplifies deformation. The cloth actuator…
Soft robots, distinguished by their inherent compliance and continuum structures, present unique modeling challenges, especially when subjected to significant external loads such as gravity and payloads. In this study, we introduce an…
The recent advancements in machine learning techniques have steered us towards the data-driven design of products. Motivated by this objective, the present study proposes an automated design methodology that employs data-driven methods to…
Liquid crystal elastomers contract along their director on heating and recover on cooling, offering great potential as actuators and artificial muscles. If a flat sheet is programmed with a spatially varying director pattern, it will…
The growing adoption of lattice-based structures in soft robotics creates a need for advanced sensing solutions capable of monitoring their global deformation, particularly compression and extension. In this work, we address this challenge…
This paper presents a new method for modelling the dynamic behaviour of developable ribbons, two dimensional strips with much smaller width than length. Instead of approximating such surface with a general triangle mesh, we characterize it…
Soft pneumatic actuators have seen applications in many soft robotic systems, and their pressure-driven nature presents unique challenges and opportunities for controlling their motion. In this work, we present a new concept: designing and…
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…