相关论文: Reconfigurable Auxetic Devices (RADs) for Robotic …
"Auxetic" materials have the counter-intuitive property of expanding rather than contracting perpendicular to an applied stretch, formally they have negative Poisson's Ratios (PRs).[1,2] This results in properties such as enhanced energy…
Recent advances in nanoscale fabrication enable atomic-scale manipulation of two-dimensional (2D) materials by introducing engineered pores and perforations. This provides new opportunities to tailor functional properties of 2D materials…
Recent progress in advanced additive manufacturing techniques has stimulated the growth of the field of mechanical metamaterials. One area particular interest in this subject is the creation of auxetic material properties through elastic…
The agricultural sector is rapidly evolving to meet growing global food demands, yet tasks like fruit and vegetable handling remain labor-intensive, causing inefficiencies and post-harvest losses. Automation, particularly selective…
Despite their outstanding mechanical properties, with many industrial applications, a rational and systematic design of new and controlled auxetic materials remains poorly developed. Here a unified framework is established to describe…
Manipulating volumetric deformable objects in the real world, like plush toys and pizza dough, bring substantial challenges due to infinite shape variations, non-rigid motions, and partial observability. We introduce ACID, an…
The impressive capabilities of humans to robustly perform manipulation relies on compliant interactions, enabled through the structure and materials spatially distributed in our hands. We propose by mimicking this distributed compliance in…
In various surgical procedures, regions of interest (ROIs) such as organs or lesions are often occluded by overlying tissues, requiring surgeons to achieve adequate exposure for precise intervention. However, the irregular geometry,…
The robotic manipulation of deformable linear objects has shown great potential in a wide range of real-world applications. However, it presents many challenges due to the objects' complex nonlinearity and high-dimensional configuration. In…
Materials science has adopted the term of auxetic behavior for structural deformations where stretching in some direction entails lateral widening, rather than lateral shrinking. Most studies, in the last three decades, have explored…
The ability to change a surface's profile allows biological systems to effectively manipulate and blend into their surroundings. Current surface morphing techniques rely either on having a small number of fixed states or on directly driving…
Robot manipulation of rope-like objects is an interesting problem that has some critical applications, such as autonomous robotic suturing. Solving for and controlling rope is difficult due to the complexity of rope physics and the…
Robotic systems operating in unstructured environments require the ability to switch between compliant and rigid states to perform diverse tasks such as adaptive grasping, high-force manipulation, shape holding, and navigation in…
Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…
Soft robots are compliant but often cannot support loads or hold their shape, while rigid robots provide structural strength but are less adaptable. Existing variable-stiffness systems usually operate at the scale of whole segments or…
This paper focuses on the conditions for obtaining auxetic, i.e. with a negative Poisson's ratio, composite laminates made of specially orthotropic layers. In particular, the layers considered are of three types: R1-orthotropic, i.e.…
Handed Shearing Auxetics (HSA) are a promising structure for making electrically driven robots with distributed compliance that convert a motors rotation and torque into extension and force. We overcame past limitations on the range of…
In this work, a novel hierarchical mechanical metamaterial is proposed that is composed of re-entrant truss-lattice elements. It is shown that this system can deform very differently and can exhibit a versatile extent of the auxetic…
This work studies the constitutive response of two- and three-dimensional lattice materials subject to isotropic prestress. The unit cell of the examined lattices is formed by an arbitrary number of junctions attached to a junction.…
Lattice structures have been widely used in various applications of additive manufacturing due to its superior physical properties. If modeled by triangular meshes, a lattice structure with huge number of struts would consume massive…