A Soft Magnetic Jamming Method Enabling Variable Stiffness and Active Steering for Robotic Catheter [0.03%]
一种使机器人导管实现可变刚度和主动转向的柔性磁性堵塞方法
Qi Luo,Hongzhe Sun,Weikang Liu et al.
Qi Luo et al.
Endovascular interventions demand catheters that can actively steer through tortuous vessels and dynamically increase stiffness at the target to ensure precise therapy. Most existing steerable catheters achieve steering and variable stiffne...
Research on the Design of Variable Stiffness Adhesive Feet and Cooperative Crawling Mechanism for Soft Bionic Gecko-Inspired Wall-Climbing Robots [0.03%]
基于壁虎仿生的软体爬墙机器人变刚度粘性足及协同攀爬机制研究
Zhiwei Yu,Can Liu,Linwen Cheng et al.
Zhiwei Yu et al.
Gecko-inspired soft robots offer unique advantages for confined-space operations. Here, we introduce a soft climbing robot designed for tasks such as spacecraft inspection and disaster response. Unlike conventional attachment mechanisms rel...
Bioinspired Swallowing Soft Gripper with Toroidal Optical Waveguides for Multimodal Interactive Perception [0.03%]
一种受生物启发的吞咽软夹具，带有环形光波导用于多模式交互感知
Sheng Xiang,Muye Niu,Wenjie Fang et al.
Sheng Xiang et al.
Multimodal soft grippers can adapt grasping strategies to diverse environments, yet integrating sensors under large, coupled deformations remains challenging. Inspired by the mechanosensation of sea anemones and their ability to swallow, th...
Plant-Inspired Elastic-Hydraulic Tactile Sensing Enables Quantitative Stiffness Estimation in Soft Robots [0.03%]
受植物启发的弹性液压触觉传感器使软体机器人能够进行定量刚度估计
Tofayel Ahammad Ovee,Eftakhar Ahmed Arnob,Jean-François Louf
Tofayel Ahammad Ovee
Soft robots require tactile sensors capable of quantifying the mechanical properties of unknown objects during manipulation, yet most existing approaches are fragile, costly, or limited in dynamic range. Here, we present a model-guided plan...
Ultrastable Soft Capacitive Tactile Sensor with Impedance-Modulated Signal [0.03%]
阻抗调制信号的超稳定软容性触觉传感器
Tingting Yu,Yebo Tao,Hongyao Tang et al.
Tingting Yu et al.
Soft capacitive tactile sensors are widely employed in human-machine interfaces and wearable devices due to their high sensitivity, temperature stability, and low energy consumption. However, the electrical connections between soft capaciti...
Design, Modeling, and Validation of a Pneumatically Actuated Distal Segment for Endoscopy [0.03%]
内窥镜气动驱动远端段的设计、建模与验证
Charlotte Deroubaix,Simon Den Haene,Ramzi Ben Hassen et al.
Charlotte Deroubaix et al.
To reduce the risk of patient cross-contamination associated with reusable endoscopes, health care systems are increasingly turning to single-use devices. While this shift improves hygiene, it raises significant environmental and economic c...
Wonjin Kim,Soohyun Lim,Sangryul Kim et al.
Wonjin Kim et al.
Ionic polymer-metal composites (IPMCs) are prominent soft actuators for millimeter-scale robotics due to their large bending deformation and high force-to-weight ratio. This work introduces an integrated soft robotic system featuring a thre...
Integrated Multicomponent Modeling and Optimal Design for Antagonistic Shape Memory Alloy Bending Joint [0.03%]
基于多场耦合的变刚度形状记忆合金弯管接头集成建模及优化设计
Jianghua Chen,Jibiao Chen,Qingpeng Ding et al.
Jianghua Chen et al.
Shape memory alloys (SMAs) are highly suitable for flexible and soft robots due to their lightweight nature, high power density, and miniaturization potential. However, the design of SMA-based continuum bending joints for robotic applicatio...
MAT-DiSMech: A Discrete Differential Geometry-Based Computational Tool for Simulation of Rods, Shells, and Soft Robots [0.03%]
基于离散微分几何的计算工具MAT-DiSMech用于模拟刚体、壳体和软体机器人
Radha Lahoti,Mohammad Khalid Jawed
Radha Lahoti
Accurate and efficient simulation tools are essential in robotics, enabling the visualization of system dynamics and the validation of control laws before committing resources to physical experimentation. Developing physically accurate simu...
Luca Romanello,Heinrich Stengel,Daniel Joseph Amir et al.
Luca Romanello et al.
Soft underwater grippers are well-suited for ecological sampling, providing flexibility in handling specimens of different sizes and shapes while reducing environmental impact through their compliance. Yet they are usually employed on big r...