相关论文: Analytical and Experimental Force Analysis of a So…
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…
Intuitively, prostheses with user-controllable stiffness could mimic the intrinsic behavior of the human musculoskeletal system, promoting safe and natural interactions and task adaptability in real-world scenarios. However, prosthetic…
Soft robots have struggled to support large forces and moments while also supporting their own weight against gravity. This limits their ability to reach certain configurations necessary for tasks such as inspection and pushing objects up.…
Hand impairment following neurological disorders substantially limits independence in activities of daily living, motivating the development of effective assistive and rehabilitation strategies. Soft robotic gloves have attracted growing…
To enhance pediatric exosuit design, it is crucial to assess the actuator-generated forces. This work evaluates the contact forces exerted by soft fabric-based pneumatic actuators in an upper extremity pediatric exosuit. Two actuators were…
Soft robotics have gained increased attention from the robotic community due to their unique features such as compliance and human safety. Impressive amount of soft robotic prototypes have shown their superior performance over their rigid…
Wearable exosuits assist human movement in tasks ranging from rehabilitation to daily activities; specifically, head-neck support is necessary for patients with certain neurological disorders. Rigid-link exoskeletons have shown to enable…
We developed a physics-based analytical model to describe the nonlinear mechanical response of aspirated elastic shells. By representing the elastic energy through a stretching modulus, $K$, and a dimensionless ratio, $\delta$, capturing…
Nonlinear stiffness SEAs (NSEAs) inspired by biological muscles offer promise in achieving adaptable stiffness for assistive robots. While assistive robots are often designed and compared based on torque capability and control bandwidth,…
Compliant walls are widespread in biological and engineering systems. Because of their singular nature, adapted tools are required to accurately study their rheological properties as well as the consequences of the latter within a given…
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…
Soft pneumatic actuators enable safe human-machine interaction with lightweight and powerful applied parts. On the other side, they suffer design limitations as regards complex actuation patterns, including minimum bending radii,…
Control of soft robotic manipulators remains a challenge for designs with advanced capabilities and novel actuation. Two significant limitations are multi-axis, three-dimensional motion of soft bodies alongside actuator dynamics and…
Soft Robotics presents a rich canvas for free-form and continuum devices capable of exerting forces in any direction and transforming between arbitrary configurations. However, there is no current way to tractably and directly exploit the…
Design of robotic systems that safely and efficiently operate in uncertain operational conditions, such as rehabilitation and physical assistance robots, remains an important challenge in the field. Current methods for the design of energy…
In assistive robots, compliant actuator is a key component in establishing safe and satisfactory physical human-robot interaction (pHRI). The performance of compliant actuators largely depends on the stiffness of the elastic element.…
Textile pneumatic actuators can provide useful wearable haptic feedback when embedded in gloves, armbands, and other smart garments. Here we investigate actuators fabricated from thermoplastic coated textiles. We measure the effects of…
An important question for the outlook of stellarator reactors is their robustness against pressure driven modes, and the underlying mechanism behind experimentally observed soft $\beta$ limits. Towards building a robust answer to these…
The objective of this paper is to explore the potential impact of the use of advanced high strength steel (AHSS) to form traditional cold-formed steel structural members. In this study, shell finite element models are constructed, and…
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…