5 accepted papers
Adaptation to damages and in-situ physical repairs is essential for long-term robot autonomy, yet challenging outside of narrowly defined and well-anticipated bounds. In this work we proprioceptively adapt to catastrophic damage in soft-actuated systems in under one minute. Architected materials are…
Closed-loop control remains an open challenge in soft robotics. The nonlinear responses of soft actuators under dynamic loading conditions limit the use of analytic models for soft robot control. Traditional methods of controlling soft robots underutilize their configuration spaces to avoid nonlinea
The advances in soft robotics have increased the need of soft sensors in various applications involved with physical interactions between humans and robots. In this letter, we propose a soft multiaxis force sensor made of multimaterial elastomer layers and embedded microfluidic channels that are sen
Recent advancements of technologies in human-robot interaction (HRI) significantly expanded the applications of robots from specialized areas to our daily lives. However, safety is not always guaranteed in traditional robots since they are mostly made of rigid materials and structures, which cause s
Soft sensors made of highly deformable materials are one of the enabling technologies to various soft robotic systems, such as soft mobile robots, soft wearable robots, and soft grippers. However, major drawbacks of soft sensors compared with traditional sensors are their nonlinearity and hysteresis