In this article we report on a 3 × 3 mm tactile interaction sensor that is able to simultaneously detect pressure level, pressure distribution, and shear force direction. The sensor consists of multiple mechanical switches under a conducting diaphrag...
Haptic communication, the exchange of force and tactile information during dancing or moving a table together, has been shown to benefit the performance of human partners. Similarly, it could also be used to improve the performance of robots working ...
Fiber-reinforced soft pneumatic actuators (FR-SPAs) are among the most successful soft actuators in the soft robotics community considering their structural strength, motion range, and force output. Inspired by the pneumatic artificial muscle, the be...
A lightweight soft gripper for envelope grasping is proposed. The main component of the gripper is a spherical latex superelastic membrane whose material properties allow a grabbing function to be realized. The grasping process includes the expansion...
Elevating stiffness without compromising compliance and agility is a key problem for soft finger applications, especially for articulate ones. Inspired by human finger, a multijoint soft finger with dual morphing through active/passive variable rigid...
Underwater robots are useful for exploring valuable resources and marine life. Traditional underwater robots use screw propellers, which may be harmful to marine life. In contrast, robots that incorporate the swimming principles, morphologies, and so...
Ischemic stroke is a leading cause of disability world-wide. Mounting evidence supports neuromuscular pathology following stroke, yet mechanisms of dysfunction and therapeutic action remain undefined. The objectives of our study were to investigate n...
This paper shows the design and modeling of an end effector with a bidirectional telescopic mechanism to allow a surgical assistant robot to hold and handle surgical instruments. It also presents a force-free control algorithm for the direct teaching...
The spring-loaded inverted pendulum model is similar to human walking in terms of the center of mass (CoM) trajectory and the ground reaction force. It is thus widely used in humanoid robot motion planning. A method that uses a velocity feedback cont...
Compared to laparoscopy, robotics-assisted minimally invasive surgery has the problem of an absence of force feedback, which is important to prevent a breakage of the suture. To overcome this problem, surgeons infer the suture force from their propri...