13 accepted papers
Embeddable strain sensors are typically deployed to measure a single mode of deformation and thus require additional sensor units for multiple degree of freedom (DOF) sensing. In this work, a low-cost capacitive-based soft sensor capable of multi DOF sensing is developed for soft robotic systems and
Exploiting the high conductivity and fluidity of liquid metal, Coil-Tac is a soft transduction mechanism based on measuring change in capacitance as a flowable liquid metal core moves within a conductive helical coil. Using finite difference methods, a model is derived that estimates the response of
The inherent elasticity of soft materials can be used to create robotic grippers that deform and comply to a variety of irregular shapes. To date, several soft adaptive grasping strategies have been reported, however, most of them focus on adapting to the overall shape of the structure, while the ad…
Many robotic and biological systems exploit their morphology’s interaction with the environment to become more adaptable, more energy efficient, and to simplify their control. The principles of morphological computation (MC) have been increasingly studied in recent years and researchers have investi…
Unstructured environments call for versatile robots with adaptable morphology that can perform multiple goal-directed actions including locomotion in confined spaces, environmental mapping, object retrieval and object manipulation. In response to these challenges, we present the Polyflex design conc
Suction adhesion is widely used by natural organisms for gripping irregular objects (e.g., rocks), but their artificial counterparts show less adaptation in the same situation. In addition, they can require complex sensing and control systems to function. In this paper, we present a contact-triggere
The high potential impact of soft robotics is hampered by a lack of actuators that combine high-force, high-work and high-power capabilities, limiting application in real-world problems. Typically, soft actuators are tuned to an application by gearing - for example, trading power for strain. An exam
Upper limb robotic prosthetic devices currently lack adequate sensory feedback, contributing to a high rejection rate. Incorporating affective sensory feedback into these devices reduces phantom limb pain and increases control and acceptance. To address the lack of sensory feedback we present the B:
While there are many soft matter sensing and actuation technologies, there is far less choice when it comes to soft material devices for control and computation. One solution is the Soft Matter Computer (SMC) which can perform both analogue and digital computations in soft materials. This computer p
Autonomous navigation methods can prevent robots becoming trapped between obstacles and ensure that they take the most efficient route. As mobile robots have a limited power supply, selecting the most efficient route is crucial. This letter presents a path-planning method for morphing soft robots in
As robotic systems enter an ever expanding spectrum of industries, it is becoming increasingly important that they are built to respond quickly and efficiently to dynamic environments. This letter presents a passive, reflex response (PRR) unit for quick actuation of pneumatic soft robotic systems. T
Soft structures in nature endow organisms across scales with the ability to drastically deform their bodies and exhibit complex behaviors while overcoming challenges in their environments. Inspired by microstructures found in the cell membranes of the Euglena family of microorganisms, which exhibit
Nature has exploited softness and compliance in many different forms, from large cephalopods to microbial bacteria and algae. In all these cases, large body deformations are used for both object manipulation and locomotion. The great potential of soft robotics is to capture and replicate these capab