5 accepted papers
Soft fluidic actuators are becoming popular for their backdrivability, potential for high power density, and their support for power supply through flexible tubes. Control and design of such actuators requires serviceable models that describe how they relate fluid pressure and flow to mechanical for…
Aerial manipulation describes a process that includes physical interaction between an unmanned aircraft system (UAS) and its environment. We aim to apply aerial manipulation to sample leaves and small branches from rain forest trees. Current approaches to aerial manipulation involve extended periods…
Controlling soft continuum manipulator arms is difficult due to their infinite degrees of freedom, nonlinear material properties, and large deflections under loading. This letter presents a data-driven approach to identifying soft manipulator models that enables consistent control under variable loa
Upper limb prostheses do not provide proprioceptive cues to their users, which impedes performance in grasp and manipulation tasks. Various sensory substitution methods have been developed to provide prosthesis users with a sense of the device's position, orientation, and terminal device aperture. H
This paper presents a novel variable transmission system that is based on the concept of digital hydraulics. In the proposed system, sets of rolling-diaphragm cylinders are mounted via different effective lever arms to an input and output joint. A variable subset of these cylinders is connected via…