4 accepted papers
A reliable estimate for bending stiffness is critical to many soft robot models when predicting everything from robot-environment contact to buckling resistance. Current methods for predicting actuator bending stiffness rely on highly accurate knowledge of material characteristics, which are not tri
The estimation of grip force for surgical tools such as the da Vinci has been shown to be valuable in possible applications such as haptics, tissue identification, and surgical training. Successful estimation attempts have been previously demonstrated, but utilize customized sensors; this letter aim
This paper establishes the feasibility of robotically 3D printing biomaterials such as alginate hydrogels onto moving human anatomy and a stationary plane. The alginate hydrogels used are in-vivo compatible and a proven biomaterial for tissue scaffolds. We developed a control scheme for precision ma…
Soft robots are able to complete tasks that traditional robots cannot, thus providing new opportunities for robots to navigate confined spaces. These tasks include pipe inspection and endoluminal surgical applications. The research objective of this letter is to present a design methodology for soft