Juhyung Kim,Xiuxian Shi,Wei Dawid Wang
Juhyung Kim
Cable-climbing robots are essential for performing inspection and maintenance in hard-to-reach places with a cable-based infrastructure. However, current robots are often either cumbersome, have low load capacities or struggle to accommodat...
Origami Actuator with Tunable Limiting Layer for Morphological Adaptive Soft Robots [0.03%]
用于形态适应性软体机器人的可调限制层折纸致动器
Kejin Zhu,Yang Yang,Sheng Xiang et al.
Kejin Zhu et al.
This article presents an origami actuator with a tunable limiting layer based on hybrid pneumatic and motor actuation. The main structure of the actuator is based on the Miura origami structure with a strain-limiting layer. Under air pressu...
A Stiffness-Tunable Soft Actuator with Adjustable Jamming for Dexterous Manipulation [0.03%]
一种可调刚度的软夹爪柔顺操作器
Shuoqi Wang,Wei Wang
Shuoqi Wang
In this work, we introduce the Jamming Adjustable PneuNet Actuator (JAPA), a novel soft robotic finger that enables both stiffness modulation and tunable bending behavior through a flexible hybrid jamming approach. This method combines the ...
Everything-Grasping Gripper: A Universal Gripper with Synergistic Suction-Grasping Capabilities for Cross-Scale and Cross-State Manipulation [0.03%]
全能 gripper：一种具有协同吸握能力的通用夹爪，用于跨尺度和跨状态操作
Jianshu Zhou,Jing Shu,Tianle Pan et al.
Jianshu Zhou et al.
Grasping objects across vastly different sizes and physical states-including both solids and liquids-with a single robotic gripper remain a fundamental challenge in soft robotics. We present the Everything-Grasping (EG) Gripper, a soft end-...
Prestressed Thin-Plate Actuators for Enhancing Performance of Pneumatic Soft Robots [0.03%]
一种用于增强气动软机器人的性能的预应力薄板执行器
Han Yu,Yue Zhu,Yijia Cheng et al.
Han Yu et al.
With the rapid development of soft robotics, there is a growing demand for compact, high-performance, and flexible actuators. Pneumatic actuators are particularly favored by researchers due to their high efficiency, low cost, and ease of fa...
Feline Tongue-Inspired Filiform Microstructure Improving Grasp Performance of Soft Robotic Hands [0.03%]
受猫舌头启发的(filiform)微结构可提升软机械手抓取性能
Wenbiao Wang,Yan Lin,Jinyuan Xu et al.
Wenbiao Wang et al.
Soft robot hands perform adaptive grasping stability by flexibly conforming to target geometries without damaging the target. While most improvements focus on macro-scale structural optimization, surface microstructures will also play a cru...
Jae-Kyeong Kim,Se Hyeok Ahn,Sun-Pill Jung et al.
Jae-Kyeong Kim et al.
Origami structures are lightweight and reconfigurable, creating 3D shapes by folding 2D facets. However, increasing bending stiffness in a 3D shape is challenging because the structure needs to undergo transformation, and the thin facets ar...
Flexible Segmented Assemblable Fiber Optic Sensor for Human Multi-Joint Monitoring [0.03%]
一种可重构的光纤传感器及其多关节监测方法
Yuxin Peng,Liang Zhong,Xi Zhu et al.
Yuxin Peng et al.
Human joint motion monitoring is essential for disease diagnosis, rehabilitation, health management, and enhancing human-computer interaction experiences. This work presents the development and validation of a flexible segmented assemblable...
Dimuthu D K Arachchige,Dulanjana M Perera,Umer Huzaifa et al.
Dimuthu D K Arachchige et al.
Snakes possess an extraordinary ability to traverse diverse terrains, thanks to their continuous bending and distributed surface contacts. While robotic snakes have replicated some of these locomotion capabilities, most existing designs rel...
Simultaneous Estimation of Shape and Body Contact Force for Continuum Robots Under Mixed External Geometric Constraints [0.03%]
基于混合外部几何约束的 continuum 机器人形状与接触力的同时估计方法研究
Jibiao Chen,Yiang Lu,Junyan Yan et al.
Jibiao Chen et al.
It is challenging to simultaneously estimate the shape and contact force of miniature continuum surgical robots due to the limited sensing capabilities, deformable structure, and complexity of the external environment they operate in. In th...