Canberk Sozer

2 accepted papers

2023

Robotic Modules for a Continuum Manipulator With Variable Stiffness Joints

Canberk Sozer, Sujit Kumar Sahu, Linda Paternò, Arianna Menciassi

RA-L 2023

This study presents a novel robotic module that combines rigid, rigidbut compliant,andsoft components toenable actuation, proprioceptive sensing, and variable stiffness. Three spring-reinforced soft actuators are employed for positioning the module in the 3D space by exploiting a ball joint as rotat

Cited by 8 Source ↗Scholar ↗

2020

Pressure-Driven Manipulator with Variable Stiffness Structure

Canberk Sozer, Linda Paternò, Giuseppe Tortora, Arianna Menciassi

ICRA 2020poster

The high deformability and compliance of soft robots allow safer interaction with the environment. On the other hand, these advantages bring along controllability and predictability challenges which result in loss of force and stiffness output. Such challenges should be addressed in order to improve…

Cited by 18 Source ↗Scholar ↗