Actuation Optimization of Tensegrity Robotics Based on Minimization of Input Energy [0.03%]
基于输入能量最小化的张拉整体机器人机构优化
Xiaodong Feng,Jianzhao Peng,Shubin Zhao et al.
Xiaodong Feng et al.
The six-strut spherical tensegrity robot (TR-6), known for its lightweight, high robustness, and adaptability, demonstrates superior kinematic performance due to its significant structural deformability. Its symmetric geometry is well suite...
Bioinspired Coil-Wrap Soft Gripper with Frictional Self-Locking for Enhanced Adaptability and High Load Capacity [0.03%]
一种仿生摩擦自锁卷绕式软 gripper，适配性强、负载高
Chunjie Wei,Jiantao Yao,Xianhe Yu et al.
Chunjie Wei et al.
This article proposes a bioinspired soft coil-wrap gripper (CWG) that achieves concurrent enhancements in load capacity and object adaptability through innovative biomimetic structural design. The gripper incorporates a dual-layer pneumatic...
Designing Soft Arms with Octopus-Like Dexterity: Insights from Magnetic Resonance Imaging and Finite Element Analysis [0.03%]
借鉴磁共振和有限元分析设计如八爪鱼般灵活的软臂机构:原理及启示
Salaheddin Ahmadi,Sheldon Cummings,Cayla Roy et al.
Salaheddin Ahmadi et al.
Octopuses are capable of remarkably intricate movements without a skeletal framework, making them a compelling model for the design of soft robotic arms. While previous research has explored the bending, elongation, and shortening of octopu...
Dynamic-Based Path Planning and Locomotion of Tensegrity Robots Considering Environmental Interaction [0.03%]
基于动态的环境适应型张拉整体机器人路径规划与行走研究
Fan Jiang,Xiuting Sun,Xiao Wang et al.
Fan Jiang et al.
This article presents a dynamics-based path-planning framework for tensegrity robots that accounts for environmental interaction. A systematic investigation is conducted into the mapping among locomotion gaits, actuations, and ground intera...
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...