8 accepted papers
Layer jamming variable stiffness technologies have been widely explored to enhance the load-bearing capacity of soft robotic fingers. However, these technologies typically require layer-jamming units to be attached to soft actuators as additional components, complicating structural design and limiti
This paper presents a soft actuator inspired by origami and a tunable strain limiting layer, which is proposed for reconfigurable soft robotic grasping. Main structure of the actuator is based on Miura origami which generates extension under pressurized air while a limiting layer with tunable length…
In-flight high-speed object capturing is crucial in nature to improve survival and adaptation to the environment, such as the predation of frogs, leopards, and eagles. Despite its ubiquitousness in nature, capturing fast-moving objects is extremely challenging in engineering implementations. In this…
Fluidic and tendon driven actuators are widely applied in soft robotic hand design. Fluidic actuated soft robotic hands are highly compliant and can adapt to various objects. Tendon driven soft robotic hands are easier to control and have high dexterity and large force output, however, they are less
Stiffness variation and real-time position feedback are critical for any robotic system but most importantly for active and wearable devices to interact with the user and environment. Currently, for compact sizes, there is a lack of solutions bringing high-fidelity feedback and maintaining design an
Soft robotic gloves have shown great advantages in assisting individuals with hand pathologies to perform continuous exercises to restore their hand functions, which could considerably accelerate the rehabilitation process and reduce the costs. However, single rehabilitation mode, difficulty in achi…
Pneumatic soft grippers have nonlinear continuum deformation enabling them to adapt to irregular object shapes. Most of the existing pneumatic soft grippers use only open-loop control. Attempts for closed-loop control of soft grippers are all based on air pressure regulation, which is inaccurate and
Shape memory polymer (SMP) is a type of functional materials that changes Young's modulus when heated above glass transition temperature (Tg). In this work, this property of SMP has been explored for the design and fabrication of a modular omni-directional joint with variable stiffness. When cascadi