相关论文: Soft Fluidic Sheet Transistor for Soft Robotic Sys…
Fluid-based soft actuators are an attractive option for lightweight and human-safe robots. These actuators, combined with fluid pressure force feedback, are in principle a form of series-elastic actuation (SEA), in which nearly all…
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 robotic systems are known for their flexibility and adaptability, but traditional physics-based models struggle to capture their complex, nonlinear behaviors. This study explores a data-driven approach to modeling the…
Arrays of H-shape microfluidic channels connecting two different fluidic reservoirs have been built with silicon/SU8 microfabrication technologies utilized in production of thermal inkjet printheads. The fluids are delivered to the channels…
This work introduces the Monolithic Unit (MU), an actuator-lattice-sensor building block for soft robotics. The MU integrates pneumatic actuation, a compliant lattice envelope, and candidate sites for optical waveguide sensing into a single…
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…
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…
Fluid-structure interactions are ubiquitous in nature and technology. However, the systems are often so complex that numerical simulations or ad hoc assumptions must be used to gain insight into the details of the complex interactions…
Inflated continuum robots are promising for a variety of navigation tasks, but controlling their motion with a small number of actuators is challenging. These inflated beam robots tend to buckle under compressive loads, producing extremely…
Microfluidic valves play a key role within microfluidic systems by regulating fluid flow through distinct microchannels, enabling many advanced applications in medical diagnostics, lab-on-chips, and laboratory automation. While microfluidic…
This study proposes a soft robotic device with a slim and flexible body that switches between air blowing and suction with a single airflow control. Suction is achieved by jet flow entraining surrounding air, and blowing is achieved by…
With soft robotics being increasingly employed in settings demanding high and controlled contact forces, recent research has demonstrated the use of soft robots to estimate or intrinsically sense forces without requiring external sensing…
Soft robotics is an attractive and rapidly emerging field, in which actuation is coupled with the elastic response of the robot's structure to achieve complex deformation patterns. A crucial challenge is the need for multiple control…
Soft robotics is attractive for wearable applications that require conformal interactions with the human body. Soft wearable robotic garments hold promise for supplying dynamic compression or massage therapies, such as are applied for…
This paper presents modeling of a compliant 2D manipulator, a so called soft hydraulic/fluidic elastomer actuator. Our focus is on fiber-Reinforced Fluidic Elastomer Actuators (RFEA) driven by a constant pressure hydraulic supply and…
This paper presents design, fabrication and control of a compliant 2D manipulator, a so called soft actuator. Our focus is on fiber-reinforced elastomer actuators driven by a constant pressure hydraulic supply and modulated on/off valves.…
A novel scheme for non-volatile digital computation is proposed using spin-transfer torque (STT) and automotion of magnetic domain walls (DWs). The basic computing element is composed of a lateral spin valve (SV) with two ferromagnetic (FM)…
This paper evaluates the capabilities of a soft robotic pneumatic actuator derived from the terrain display haptic device, "The Smart Shoe." The bladder design of the Smart Shoe is upgraded to include a pressure supply and greater output…
The language-conditioned robotic manipulation aims to transfer natural language instructions into executable actions, from simple pick-and-place to tasks requiring intent recognition and visual reasoning. Inspired by the dual process theory…
Dynamic in-hand manipulation remains a challenging task for soft robotic systems that have demonstrated advantages in safe compliant interactions but struggle with high-speed dynamic tasks. In this work, we present SWIFT, a system for…