12 accepted papers
Osmosis-driven actuation offers a promising strategy for developing untethered, environmentally responsive soft and shape shifting mechanisms and robots. In this work, we explore the use of superabsorbent polymer (SAP) pellets as large-scale, shape-morphing actuators. Upon exposure to water, these a
Insects can locomote readily in challenging environments, such as over steep inclines and across obstacle-laden terrains, which still frustrate robots of similar size. In this work, inspired by the passive compliant properties of insect limbs, we use the insect-scale Harvard Ambulatory Microrobot an…
In-hand manipulation is necessary, yet challenging for robotic hands as robots begin to interact with real-world objects and environments. The intentional incorporation of an active palm can lead to improved dexterity. In this work, we demonstrate how controlling the palm-object interaction enables
To deploy robots outside of laboratory environments, they must be able to locomote on natural, unstructured terrain. While perception and control strategies for terrain navigation and obstacle avoidance have been developed for human-scale robots, microrobots are often too small to carry the sensors,…
Compliant robotic grippers are more robust to uncertainties in grasping and manipulation tasks, especially when paired with tactile and proprioceptive feedback. Although considerable progress has been made towards achieving proprioceptive soft robotic grippers, current efforts require complex drivin…
Shape versatility is a mechanism that many animals leverage to effectively interact-with and locomote-within the natural world. Toward the goal of shape-changing artificial systems, we present morphing robots comprised of robotic skins and sculptable materials. Herein, we describe robotic skins—plan
Robotic skins incorporate sensors and actuators into stretchable and flexible planar substrates. Wrapping a robotic skin around a passive, deformable structure imparts controllable motion onto that structure, rendering it an active robotic system. Robotic skins can be applied to the surface of a str
In this paper, we present sensor-controlled antagonistic pneumatic actuators (SCAPAs) that integrate proven soft robotic actuators and sensors into a simplified, controllable design. The antagonistic actuators together compose a bidirectional bending actuator with embedded capacitive strain sensors.…
Soft robotic grippers can grasp objects of many different shapes while tolerating misalignments. However, many current soft systems lack proprioception and the ability to sense the position and orientation of the object to be grasped. Understanding the configuration of a gripper's fingers and the co
Materials exhibiting variable stiffness properties have great potential for use in the growing field of soft robotics. Soft structural materials allow a robot to fit into enclosed spaces, resist shock and vibration, or even reconfigure its geometry and adapt to various environments. Rigid structural…
In this paper, we describe the fabrication and testing of a stretchable fabric sleeve with embedded elastic strain sensors for state reconstruction of a soft robotic joint. The strain sensors are capacitive and composed of graphite-based conductive composite electrodes and a silicone elastomer diele…
In this letter, we introduce active variable stiffness fibers that are made from shape memory alloy and thermally responsive polymers. This combines the actuation of shape memory alloy with the variable stiffness of a thermoplastic using electric current as the stimulus. By combining both actuation