相关论文: A Novel Robotic Variable Stiffness Mechanism Based…
Rehabilitation robotics continues to confront substantial challenges, particularly in achieving smooth, safe, and intuitive human-robot interactions for upper limb motor training. Many current systems depend on complex mechanical designs,…
We study pattern formation during tensile deformation of confined viscoelastic layers. The use of a model system (PDMS with different degrees of crosslinking) allows us to go continuously from a viscous liquid to an elastic solid. We…
The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the…
Prosthesis users can regain partial limb functionality, however, full natural limb mobility is rarely restored, often resulting in compensatory movements that lead to discomfort, inefficiency, and long-term physical strain. To address this…
A novel finite element method (FEM) is developed to study mechanical response of axons embedded in extra cellular matrix (ECM) when subjected to harmonic uniaxial stretch under purely non-affine kinematic boundary conditions. The proposed…
Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…
In this paper, we introduce and analyze a lowest-order locking-free weak Galerkin (WG) finite element scheme for the grad-div formulation of linear elasticity problems. The scheme uses linear functions in the interior of mesh elements and…
As disease often alters the structural properties of soft tissue, noninvasive elastography techniques have emerged to quantitatively assess in vivo mechanical properties. Magnetic Resonance Elastography (MRE) based on dynamic deformations…
Local microstructural heterogeneities of elastic metamaterials give rise to non-local macroscopic cross-coupling between stress-strain and momentum-velocity, known as Willis coupling. Recent advances have revealed that symmetry breaking in…
The electromyography (EMG) signal is the electrical manifestation of a neuromuscular activation that provides access to physiological processes which cause the muscle to generate force and produce movement. Non invasive prostheses use such…
Developing kinesthetic haptic devices with advanced haptic rendering capabilities is challenging due to the limitations on driving mechanisms. In this study, we introduce a novel soft electrohydraulic actuator and develop a kinesthetic…
Elastoviscoplastic (EVP) fluid flows are driven by a non-trivial interplay between the elastic, viscous, and plastic properties, which under certain conditions can transition the otherwise laminar flow into complex flow instabilities with…
Thumb gestures provide an effective and unobtrusive input modality for wearable and always-available human-machine interaction. Wrist-worn surface electromyography (sEMG) has emerged as a promising approach for compact and wearable…
Humanoid robot technologies have demonstrated immense potential for minimally invasive surgery (MIS). Unlike dedicated multi-arm surgical platforms, the inherent dual-arm configuration of humanoid robots necessitates an efficient instrument…
EMG-based gesture recognition shows promise for human-machine interaction. Systems are often afflicted by signal and electrode variability which degrades performance over time. We present an end-to-end system combating this variability…
Stiffness estimation is crucial for delicate object manipulation in robotic and prosthetic hands but remains challenging due to dependence on force and displacement measurement and real-time sensory integration. This study presents a…
This study addresses a flexible holding tool for robotic disassembly. We propose a shell-type soft jig that securely and universally holds objects, mitigating the risk of component damage and adapting to diverse shapes while enabling soft…
Accurate assessment of stiffness distribution is essential due to the critical role of single cell mechanobiology in the regulation of many vital cellular processes such as proliferation, adhesion, migration, and motility. Cell stiffness is…
Soft robots have garnered significant attention due to their promising applications across various domains. A hallmark of these systems is their bilayer structure, where strain mismatch caused by differential expansion between layers…
Soft robots are known for their ability to perform tasks with great adaptability, enabled by their distributed, non-uniform stiffness and actuation. Bending is the most fundamental motion for soft robot design, but creating robust, and…