7 accepted papers
There are many spaces inaccessible to humans where robots could help deliver sensors and equipment. Many of these spaces contain three-dimensional passageways and uneven terrain that pose challenges for robot design and control. Everting toroidal robots, which move via simultaneous eversion and inve…
Soft robot serial chain manipulators with the capability for growth, stiffness control, and discrete joints have the potential to approach the dexterity of traditional robot arms, while improving safety, lowering cost, and providing an increased workspace, with potential application in home environm…
Soft, tip-extending, pneumatic "vine robots" that grow via eversion are well suited for navigating cluttered environments. Two key mechanisms that add to the robot’s functionality are a tip-mounted retraction device that allows the growth process to be reversed, and a tip-mounted camera that enables…
Pneumatically operated soft growing robots that extend via tip eversion are well-suited for navigation in confined spaces. Adding the ability to interact with the environment using sensors and tools attached to the robot tip would greatly enhance the usefulness of these robots for exploration in the…
Soft growing robots are proposed for use in applications such as complex manipulation tasks or navigation in disaster scenarios. Safe interaction and ease of production promote the usage of this technology, but soft robots can be challenging to teleoperate due to their unique degrees of freedom. In…
Tip-extending soft robots that “grow” via pneumatic eversion of their body material have demonstrated applications in exploration of cluttered environments. During growth, the motion and force of the robot tip can be controlled in three degrees of freedom using actuators that direct the tip in combi
Hands-on training is an indispensable part of surgical practice. As the tools used in the operating room become more intricate, the demand for efficient training methods increases. This work proposes a robotic assistance-as-needed method for training with surgical teleoperated robots. The method ada…