7 accepted papers
A new versatile pneumatic actuator called a scissor-mechanism-based vacuum powered artificial muscle (SMVAM) is proposed in this letter. The actuator is composed of a soft airtight skin and a scissor structural skeleton, and based on the types of scissor units in the skeleton, the actuator can be de
Soft robot has demonstrated promise in unstructured and dynamic environments due to unique advantages, such as safe interaction, adaptiveness, easy to actuate, and easy fabrication. However, the highly dissipative nature of elastic materials results in small stiffness of soft robot which limits cert…
This letter presents an experimental study on how different body flapping patterns affect the performances of fish cruising. First, a biomimetic robot fish is designed and built as the experimental platform, which mimics the skeleton structure and the muscle arrangement of real fish. Moreover, an im
How to build a biomimetic robot fish has always been a divergent question. Most of the existing robot fishes suffer structural complexity and propulsive inefficiency. In this paper, we proposed a method that transfers the natural actuation properties of fish to the biomimetic robot counterpart. The
Although methods about building fish-like robots have attracted much research in recent years, new techniques are still required for developing superior robot fish. This paper presents a novel robot fish propelled by an active compliant propulsion mechanism. The key innovation is the combination of…
In this paper, a concentric wire-driven mechanism (CWM) is presented. The CWM comprises of two nested wire-driven mechanisms (WDM). Each WDM contains a flexible backbone and a set of wires. The backbone bending is controlled by pulling the wires. The stiffness of the outer WDM is controllable and do…
In this paper, a novel constrained tendon-driven serpentine manipulator (CTSM) suited for minimally invasive surgery is presented. It comprises of a flexible backbone, a set of controlling tendons and a constraint. In the CTSM not only the curvature of the bending section can be controlled but also…