5 accepted papers
Precise control of soft pneumatic actuators is impeded by significant nonlinearities, particularly large internal volume variations during actuation—a factor often overlooked in conventional modeling. This paper proposes an adaptive robust control (ARC) framework designed for high-performance, energ
Precise control of soft pneumatic actuators is impeded by significant nonlinearities, particularly large internal volume variations during actuation---a factor often overlooked in conventional modeling. This paper proposes an adaptive robust control (ARC) framework designed for high-performance, ene…
Supermicrosurgery requires exceptionally highprecision manipulation to perform anastomosis of microscopic vessels and nerves, often involving diameters between 0.3 mm and 0.8 mm. To achieve successful outcomes with robotic systems, it is critical to ensure the stable grasping and delicate manipulati…
The Elastic Inflatable Actuators (EIAs) has several advantages such as the inherent compliance due to the body comprised of a soft materials such as silicone. Among them, the soft fiber reinforced actuator is based on the principle that the expansion of enclosure and constraint of fiber pattern lead…