IEEE transactions on bio-medical engineering
Sep 20, 2021
OBJECTIVE: Soft tissue deformation and ruptures complicate needle placement. However, ruptures at tissue interfaces also contain information which helps physicians to navigate through different layers. This navigation task can be challenging, wheneve...
Soft robotics
Jul 28, 2021
The compliance and deformability of soft robotics allow human-machine interactions in a safe manner without the need of sophisticated control systems inherent in rigid-body robotic devices. However, these advantages introduce controllability and pred...
ISA transactions
Jul 26, 2021
In this paper, cooperative robotic manipulators under uncertain base coordinate are investigated. The coordinate uncertainties result in biases of cooperative robotic dynamics, which involve horizontal and vertical translational errors in the task sp...
Bioinspiration & biomimetics
Jul 21, 2021
Similar to the end effectors for traditional rigid robots, those for soft robots are essential as the interacting media between the robots and their environments. Inspired by the forelegs of climbing animals, a passively adaptive soft gripper (ASG), ...
Advanced science (Weinheim, Baden-Wurttemberg, Germany)
Jul 3, 2021
While suction cups prevail as common gripping tools for a wide range of real-world parts and surfaces, they often fail to seal the contact interface when engaging with irregular shapes and textured surfaces. In this work, the authors propose a suctio...
Soft robotics
Jun 29, 2021
Achieving both high compliance and stiffness is a key issue in stiffness-tunable soft robots. A wide-range variable-stiffness method keeping pure soft characteristic is proposed by bioinspired design of deep-sea glass sponges adopting thermoplastic s...
Sensors (Basel, Switzerland)
Jun 22, 2021
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...
IEEE transactions on haptics
Jun 17, 2021
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 ...
Soft robotics
Jun 8, 2021
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...
Soft robotics
Jun 7, 2021
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...