相关论文: Untethered thin dielectric elastomer actuated soft…
This paper proposes a new type of actuator at millimeter scale, which is based on Simplified Electro-Permanent (SEP) magnets. The new actuator can achieve connection and smooth motion by controlling the polarity of SEP magnets. Analyses…
In biomechanics and robotics, elasticity plays a crucial role in enhancing locomotion efficiency and stability. Traditional approaches in legged robots often employ series elastic actuators (SEA) with discrete rigid components, which, while…
Soft robots are robotic systems made of deformable materials and exhibit unique flexibility that can be exploited for complex environments and tasks. However, their control problem has been considered a challenging subject because they are…
Designing optimal soft modular robots is difficult, due to non-trivial interactions between morphology and controller. Evolutionary algorithms (EAs), combined with physical simulators, represent a valid tool to overcome this issue. In this…
Two-dimensional (2D) metallic systems with intrinsically low lattice thermal conductivity are rare, yet they are of great interest for next-generation energy and electronic technologies. Here, we present a comprehensive first-principles…
This paper presents a new teleoperated spherical tensegrity robot capable of performing locomotion on steep inclined surfaces. With a novel control scheme centered around the simultaneous actuation of multiple cables, the robot demonstrates…
In this paper, we propose a novel type of serial robot with minimal actuation. The robot is a serial rigid structure consisting of multiple links connected by passive joints and of movable actuators. The novelty of this robot is that the…
The next significant step in the evolution and proliferation of artificial intelligence technology will be the integration of neural network (NN) models within embedded and mobile systems. This calls for the design of compact, energy…
Electrodermal Activity (EDA) is a non-invasive physiological signal widely available in wearable devices and reflects sympathetic nervous system (SNS) activation. Prior multi-modal studies have demonstrated robust performance in…
Electrostatic force actuation is a key component of the system of geodesic reference test masses (TM) for the LISA orbiting gravitational wave observatory and in particular for performance at low frequencies, below 1 mHz, where the…
This paper contains a thorough investigation of the performance of electrically activated layered soft dielectric composite actuators under plane deformation. Noting that the activation can be induced controlling either the voltage or the…
Soft robots have demonstrated superior flexibility and functionality than conventional rigid robots. These versatile devices can respond to a wide range of external stimuli (including light, magnetic field, heat, electric field, etc.), and…
This paper introduces a novel approach for modeling the dynamics of soft robots, utilizing a differentiable filter architecture. The proposed approach enables end-to-end training to learn system dynamics, noise characteristics, and temporal…
We investigate the ultrafast dynamics of photo-induced non-thermal lattice disorder in a polycrystalline aluminium thin film to elucidate transient short- and long-range lattice distortions, their thermalization and electron-phonon coupling…
Robotic locomotion research typically draws from biologically inspired leg designs, yet many human-engineered settings can benefit from non-anthropomorphic forms. TARS3D translates the block-shaped 'TARS' robot from Interstellar into a 0.25…
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…
We developed a new class of soft locomotive robots that can self-assemble into a preprogrammed configuration and vary their stiffness afterward in a highly integrated, compact body using contracting-cord particle jamming (CCPJ). We…
This paper presents an in-depth examination of the nonlinear deformation induced by dielectric actuation in pre-stressed ideal dielectric elastomers. A nonlinear ordinary differential equation that governs this deformation is formulated…
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…
Ultra-low-density elastomeric foams enable lightweight systems that combine high compliance with efficient energy return. In high-performance racing shoes, these foams are critical for low weight, high cushioning, and efficient energy…