12 accepted papers
Pneumatic actuated soft robots attract increasing interest of the researchers due to the availability and simplicity in actuation. The soft robots driven by soft pneumatic actuators (SPAs) of various active volumes demand pneumatic systems with various range of flow rate. However, the usually bulky
Soft robotic arms have gained significant attention owing to their flexibility and adaptability. Nonetheless, the instability due to their high-elasticity structure further leads to the difficulty of precise kinematic modeling and control. This letter introduces a novel solution employing foam-embed
Hydraulic-driven soft robots have received much less attention than their pneumatic counterparts. However, the incompressibility of liquid could bring a series of desirable attributes to soft robotic control, despite the apparent disadvantage of weight addition and compliance compromise resulting fr
Interactions with environmental objects can induce substantial alterations in both exteroceptive and proprioceptive signals. However, the deployment of exteroceptive sensors within underwater soft manipulators encounters numerous challenges and constraints, thereby imposing limitations on their perc
This paper presents a soft actuator inspired by origami and a tunable strain limiting layer, which is proposed for reconfigurable soft robotic grasping. Main structure of the actuator is based on Miura origami which generates extension under pressurized air while a limiting layer with tunable length…
Soft robots undergo complex deformations during actuation and interaction due to the flexibility and compliance of their soft materials. This characteristic presents challenges in proprioception, particularly in characterizing their spatial deformations. Soft optical waveguide sensors have emerged a
Soft robotic manipulators have inherent advantages in underwater applications, as they generate motion by deforming seamless muscles rather than having rotational joints or sliding cylinders, as well as having excellent passive adaptability. However, limited by insufficient structural stiffness, ach
Proprioception and variable stiffness are two trending topics in soft robotics research. The former could endow soft robots with the ability to perceive the environment as well as their internal states without the need of dedicated sensors, while the latter could strengthen the otherwise excessive c…
The soft robotic manipulators attract extensive interest of researchers due to its conformity to the unstructured environment, safe-interaction with human and fragile objects. The movement of the soft manipulator often include elongation, contraction, 2-DOF rotations due to the parallelly arranged f
This letter presents a novel soft robotic glove system for assistive and rehabilitative applications, offering a powerful, low-profile, and convenient solution for the growing elderly and patient population. The low-profile soft glove worn by the user weighs below 50 g, providing cable-driven flexio
This letter presents a dexterous soft robotic hand, BCL-13, with 4 fingers and 13 independently actuated joints capable of in-hand manipulation. The iconic dexterity is enabled by a novel soft robotic finger design with three degrees of freedom (DOFs), significantly improving over existing soft actu
Impact safety and response are critical challenges for robots working under dynamic environments and with close proximity to humans. State-of-the-art rigid robots and soft robots both have limitations and tradeoffs due to their characteristics. In this letter, we introduced a hybrid-antagonistic-pne