14 accepted papers
In order to achieve a significant reduction in state estimation error and improved convergence speed, ensuring real-time responsiveness and computational efficiency, this article proposes a joint approach that combines dynamic modeling and observers to achieve accurate nonlinear state estimation of
Soft robotic grippers have attracted considerable attention in terms of the advantages of the high compliance and robustness to variance in object geometry; however, they are still limited by the corresponding sensing capabilities. We propose a novel soft gripper that looks like a ‘granary’ in the g
In the soft gripper design work, most of the designs such as gripping width and the design of finger actuator are purely based on experience, and repeated trial-and-error. In most scenarios, the designed actuators cannot achieve the best/optimized grasping performance with a specific design type. Th
Over the past decade, soft robotics have found its way into many applications that span across different length scales. Studies have since been done in respective research fields to characterize soft robots and understand their actuation process. On the nano to micro scale, soft robots are used to s
Loss of functional motor skills are common and often require patients to undergo rehabilitation so that they have a chance at motor recovery. Advancement in technology has seen to a rise in the use of robotic technology in conducting rehabilitative exercises that are traditionally carried out by phy…
Soft robots are a burgeoning archetype in robotics due to their ability to perform intricate movements easily and seamlessly. They serve as an ideal concept for realistically emulating animal movements. However, the majority of soft robots today are unable to vary their motions due to the coupled in…
In the above-named work, published in the July 2018 issue of the IEEE Robotics and Automation Letters, there is a missing citation in Sec. II-C. The citation should appear after the sentence "Since it is difficult to precisely model the inflation of the fabrics, we have the following assumptions" in
Traditional rigid robotic arms have been widely used in various industries. They own the merits of high force output, precise control, and high efficiency. However, a rigid robotic arm is seldom used by people in daily life, as the cost is usually high and, most importantly, its rigidity, large weig
This letter presents a fully fabric-based bidirectional soft robotic glove designed to assist hand impaired patients in rehabilitation exercises and performing activities of daily living. The glove provides both active finger flexion and extension for hand assistance and rehabilitative training, thr
Rigid actuators that accompany traditional robotic systems allow them to perform tasks with unmatched precision and efficiency. However, such systems are inapt when flexibility and suppleness are required. Inversely, soft robotic actuators are constructed out of naturally compliant materials. This c…
This paper introduces a new concept of building soft pneumatic structures by assembling modular units of fabric-based rotary actuators (FRAs) and beams. Upon pressurization, the inner folds of FRA would expand, which causes the FRA module to unfold, generating angular displacement. Hence, FRAs would…
This paper presents a hybrid tele-manipulation system, comprising of a sensorized 3-D-printed soft robotic gripper and a soft fabric-based haptic glove that aim at improving grasping manipulation and providing sensing feedback to the operators. The flexible 3-D-printed soft robotic gripper broadens
This paper presents the design and preliminary investigation of a fully 3D printed soft robotic hand exoskeleton, Print-it-Yourself (PIY) Glove for stroke patients. The PIY Glove is fabricated with Fused Deposition Modeling (FDM) using consumer based 3D printing technology to lower fabrication costs…
This paper presents a soft robotic glove designed to assist individuals with functional grasp pathologies in performing activities of daily living. The glove utilizes soft fabric-regulated pneumatic actuators that are low-profile and require lower pressure than previously developed actuators. They a