9 accepted papers
Vacuum-actuated muscle-inspired pneumatic structures (VAMPs) are a promising alternative to traditional pneumatic artificial muscles, offering uniform force distribution, reduced material fatigue, and improved reliability through the use of negative pressure; however, their design-performance relati
Soft robots are promising in biomedical applications thanks to their inherent structural compliance and distributed large deformations. However, integrating a sensory system that maintains the robot's dexterity while offering accurate state estimation remains an open challenge for their widespread a
In this paper, we propose a novel dynamic gait controller for the repetitive behavior of soft robot manipulators performing routine tasks. Compliance with soft robots is advantageous when the robot interacts with living organisms and other fragile objects. However, predicting and controlling repetit…
Lately, soft fluidic actuation has gained widespread interest in all fields where compliance and adaptability are the main keywords. Despite their well-known advantages, soft fluidic actuators frequently present problems related to the elastomeric chambers' durability, affecting the overall system r
In this work we presented the application of the layer jamming technology as variable stiffness mechanism for tech approach shoes. This scenario leads to the development of a novel kind of layer jamming system, with significant stiffness variation, yet minimized shape-locking effect. The system perf
The central concept of this letter is to develop an assistive manipulator that can automate the bathing task for elderly citizens. We propose to exploit principles of soft robotic technologies to design and control a compliant system to ensure safe human-robot interaction, a primary requirement for
Designing and manufacturing actuators using soft materials are among the most important subjects for future robotics. In nature, animals made by soft tissues such as the octopus have attracted the attention of the robotics community in the last years. Suckers (or suction cups) are one of the most im…
This letter reports the concept and design of the active-braid, a novel bioinspired continuum manipulator with the ability to contract, extend, and bend in three-dimensional space with varying stiffness. The manipulator utilizes a flexible crossed-link helical array structure as its main supporting
There is an emerging trend toward soft robotics due to its extended manipulation capabilities compared to traditionally rigid robot links, showing promise for an extended applicability to new areas. However, as a result of the inherent property of soft robotics being less rigid, the ability to contr