This paper presents experimental evidence for the existence of a set of unique force modulation strategies during manual soft tissue palpation to locate hard abnormalities such as tumors. We explore the active probing strategies of defined local area...
In this article, we have proposed a novel robotic finger design principle aimed to address two challenges in soft pneumatic grippers-the controllability of the stiffness and the controllability of the bending position. The proposed finger design is c...
IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society
28278475
A novel, cable-driven soft joint is presented for use in robotic rehabilitation exoskeletons to provide intrinsic, comfortable human-robot interaction. The torque-displacement characteristics of the soft elastomeric core contained within the joint ar...
Despite the increasing popularity of soft robotic research, the application of soft robots is hindered by their limited ability to change compliance and acquire force and position feedback. In this article, both the controllability of compliance and ...
Synechocystis sp. strain PCC6803 (Synechocystis) is a model microorganism and its mechanosensitive (MS) channels play important roles in its osmoadaptation mechanism. When the osmotic concentration of the culture environment changes, the inner pressu...
Fiber reinforced elastomeric enclosures (FREEs) are soft pneumatic actuators that can contract and generate forces upon pressurization. Typical engineering applications utilize FREEs in their straight cylindrical configuration and derive actuation di...
Quasi-static elasticity imaging techniques rely on model-based mathematical inverse methods to estimate mechanical parameters from force-displacement measurements. These techniques introduce simplifying assumptions that preclude exploration of unknow...
The finite element method (FEM) is among the most commonly used numerical methods for solving engineering problems. Due to its computational cost, various ideas have been introduced to reduce computation times, such as domain decomposition, parallel ...
The advent of soft robotics represents a profound change in the forms robots will take in the future. However, this revolutionary change has already yielded such a diverse collection of robots that attempts at defining this group do not reflect many ...