Riley Larkins

Improving Soft Pneumatic Actuator fingers through integration of soft sensors, position and force control, and rigid fingernails

Soft Pneumatic Actuators (SPAs) have recently become popular for use as fingers in robotic hands because of their inherent compliance, low cost, and ease of construction. We seek to overcome two key limitations which limit SPAs' abilities to grasp and manipulate objects: 1) Current SPAs lack positio