相关论文: Analytical and Experimental Force Analysis of a So…

Soft electrothermal actuators are of great interest in diverse application domains for their simplicity, compliance, and ease of control. However, the very nature of thermally induced mechanical actuation sets inherent operation…

This paper presents the design and dynamic modelling of a soft pneumatic actuator that can be used to mimic snake or worm-like locomotion. The bond graph technique is used to derive the dynamics of the actuator. To validate the accuracy of…

Twisted string actuators (TSAs) have exhibited great promise in robotic applications by generating high translational force with low input torque. To further facilitate their robotic applications, it is strongly desirable but challenging to…

The dynamic characteristics of near-field levitation bearings have been investigated in this study. Through theoretical analysis, two different types of system stiffness are defined and derived analytically. The dynamic stiffness relates…

Soft multi-axis force/torque sensors provide safe and precise force interaction. Capturing the complete degree-of-freedom of force is imperative for accurate force measurement with six-axis force/torque sensors. However, cross-axis coupling…

Stroke-induced motor impairment often results in substantial loss of upper-limb function, creating a strong demand for rehabilitation robots that enable safe and transparent physical human-robot interaction (pHRI). Variable stiffness…

This paper presents the analytic modeling of mobile heavy-duty manipulators with actively articulated suspension and its optimal control to maximize its static and dynamic stabilization. By adopting the screw theory formalism, we consider…

Simulated annealing (SA) is a kind of relaxation method for finding equilibria of Hamiltonian systems. A set of evolution equations is solved with SA, which is derived from the original Hamiltonian system so that the energy of the system…

This report presents research conducted on amplified self-healing electrostatic (HASEL) actuators. HASEL actuators are comprised of a dielectric fluid sealed between two inextensible layers with bonded, flexible electrodes on its outer…

Soft parallel robots with their manipulation safety and low commercial cost show a promising future for delicate operations and safe human-robot interactions. However, promoting the use of electroactive polymers (EAPs) is still challenging…

The challenge of accessing specialized adhesives designed for strain gage applications has been highlighted due to failures in logistic chains, requiring the exploration of local alternatives. A direct simulation of strain gage bonding…

To bridge the gap between high and low fidelity numerical modeling tools for vertical-axis (or cross-flow) turbines (VATs or CFTs), an actuator line model (ALM) was developed and validated for both a high and a medium solidity vertical-axis…

The mechanics of complex soft matter often cannot be understood in the classical physical frame of flexible polymers or rigid rods. The underlying constituents are semiflexible polymers, whose finite bending stiffness ($\kappa$) leads to…

In this study, an inhomogeneous Cosserat rod theory is introduced and compared to the conventional homogeneous rod for modeling soft manipulators. The inhomogeneity is addressed by considering the pressure actuation as part of the rod's…

We propose an analytical model for the force-indentation relationship in viscoelastic materials exhibiting a power law relaxation described by an exponent n, where n = 1 represents the standard viscoelastic solid (SLS) model, and n < 1…

In this article, we investigate the model based position control of soft hydraulic actuators arranged in an antagonistic pair. A dynamical model of the system is constructed by employing the port-Hamiltonian formulation. A control algorithm…

This paper discusses and contests the claims of ``Soft Pneumatic Actuator Fascicles for High Force and Reliability'' a research article which was originally published in the March 2017 issue of the Journal Soft Robotics. The original paper…

The McKibben pneumatic artificial muscle is a commonly studied soft robotic actuator, and its quasistatic force-length properties have been well characterized and modeled. However, its damping and force-velocity properties are less well…

Modern Space Launch Vehicles (SLVs), being slender in shape and due to the use of lightweight materials, are generally flexible in nature. This structural flexibility, when coupled with sensor and actuator dynamics, can adversely affect the…

This paper presents a haptic interface with modular linear actuators which can address limitations of conventional devices based on rotatory joints. The proposed haptic interface is composed of parallel linear actuators that provide high…