相关论文: Untethered thin dielectric elastomer actuated soft…

In the quest for electrically-driven soft actuators, the focus has shifted away from liquid-gas phase transition, commonly associated with reduced strain rates and actuation delays, in favour of electrostatic and other electrothermal…

Numerous soft actuators based on PneuNet design have already been proposed and extensively employed across various soft robotics applications in recent years. Despite their widespread use, a common limitation of most existing designs is…

In this paper, we present an adjustable-equilibrium parallel elastic actuator (AE-PEA). The actuator consists of a motor, an equilibrium adjusting mechanism, and a spring arranged into a cylindrical geometry, similar to a motor-gearbox…

This paper presents an interaction control algorithm for a dielectric elastomer membrane actuator. The proposed method permits efficient exploitation of the controllable stiffness of the material, allowing to use the membrane as a…

In-situ aeroengine maintenance works are highly beneficial as it can significantly reduce the current maintenance cycle which is extensive and costly due to the disassembly requirement of engines from aircrafts. However, navigating in/out…

Soft robots are capable of inherently safer interactions with their environment than rigid robots since they can mechanically deform in response to unanticipated stimuli. However, their complex mechanics can make planning and control…

Liquid crystal elastomers (LCEs) are a stimuli-responsive material which has been intensively studied for applications including artificial muscles, shape morphing structures, and soft robotics, due to its capability of large, programmable,…

This paper develops and compares two motion planning algorithms for a tethered UAV with and without the possibility of the tether contacting the confined and cluttered environment. Tethered aerial vehicles have been studied due to their…

Pull-in (or electro-mechanical) instability occurs when a drastic decrease in the thickness of a dielectric elastomer results in electrical breakdown, which limits the applications of dielectric devices. Here we derive the criteria for…

Objective: In this work we address limitations in state-of-the-art ultrasound robots by designing and integrating a novel soft robotic system for ultrasound imaging. It employs the inherent qualities of soft fluidic actuators to establish…

Physical joint limits are common in legged robots and can restrict workspace, constrain gait design, and increase the risk of hardware damage. This paper introduces MiNI-Q^2, a miniature, wire-free quadruped robot with independently…

Soft robots are well suited for contact-rich tasks due to their compliance, yet this property makes accurate and tractable modeling challenging. Planning motions with dynamically-feasible trajectories requires models that capture arbitrary…

Robotic assistance has broadened the capabilities of magnetic resonance imaging (MRI)-guided medical interventions, yet force-controlled actuators tailored for MRI environments remain limited. In this study, we present a novel…

Soft electrohydraulic actuators known as HASEL actuators have attracted widespread research interest due to their outstanding dynamic performance and high output power. However, the displacement of electrohydraulic actuators usually…

The ongoing demand for more energy-efficient, high-performance electronics is driving the exploration of innovative materials and device architectures, where interfaces play a crucial role due to the continuous downscaling of device…

This paper present a novel dual-speed actuator adapted to robotics. In many applications, robots have to bear large loads while moving slowly and also have to move quickly through the air with almost no load. This lead to conflicting…

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…

We present a fully edible pneumatic actuator based on gelatin-glycerol composite. The actuator is monolithic, fabricated via a molding process, and measures 90 mm in length, 20 mm in width, and 17 mm in thickness. Thanks to the composite…

Soft robots, in contrast to their rigid counter parts, have infinite degrees of freedom that are coupled with their interaction with the environment. We consider the locomotion of an untethered robot, in the granular medium, comprised of…

Under-actuated compliant robotic systems offer a promising approach to mitigating actuation and control challenges by harnessing pre-designed, embodied dynamic behaviors. This paper presents Flix-Walker, a novel, untethered,…