A Geometrically Exact Model for Soft Continuum Robots: The Finite Element Deformation Space Formulation [0.03%]
软 continuum 机器人的一种几何精确模型：有限单元变形空间方法
Stanislao Grazioso,Giuseppe Di Gironimo,Bruno Siciliano
Stanislao Grazioso
Mathematical modeling of soft robots is complicated by the description of the continuously deformable three-dimensional shape that they assume when subjected to external loads. In this article we present the deformation space formulation fo...
Hand Exo-Muscular System for Assisting Astronauts During Extravehicular Activities [0.03%]
协助舱外活动宇航员的手部外骨骼肌肉系统
Álvaro Villoslada,Cayetano Rivera,Naiara Escudero et al.
Álvaro Villoslada et al.
Human exploration of the Solar System is one of the most challenging objectives included in the space programs of the most important space agencies in the world. Since the Apollo program, and especially with the construction and operation o...
Matryoshka-Inspired Micro-Origami Capsules to Enhance Loading, Encapsulation, and Transport of Drugs [0.03%]
俄罗斯套娃式微折纸胶囊可增强药物负载、包封和输送
Hen-Wei Huang,Mark W Tibbitt,Tian-Yun Huang et al.
Hen-Wei Huang et al.
Stimuli-responsive hydrogels are promising candidates for use in the targeted delivery of drugs using microrobotics. These devices enable the delivery and sustained release of quantities of drugs several times greater than their dry weight ...
Tiefeng Li,Zhanan Zou,Guoyong Mao et al.
Tiefeng Li et al.
A key challenge in bioinspired insect-scale running robots is to make them both agile and resilient. In this study, we develop a dielectric elastomer actuated soft robot that mimics inchworms. We use an elastomer to make the soft body, a st...
A Soft Retraction System for Surgery Based on Ferromagnetic Materials and Granular Jamming [0.03%]
基于铁磁材料和颗粒阻塞的软可展开外科手术系统
Aida Cavallo,Margherita Brancadoro,Selene Tognarelli et al.
Aida Cavallo et al.
In recent years, minimally invasive surgery (MIS) has gained wider acceptance among surgeons. MIS requires high skills for the operators, mainly due to its intrinsic technical limitations. Tissue manipulation and retraction remain the most ...
Chain-Like Granular Jamming: A Novel Stiffness-Programmable Mechanism for Soft Robotics [0.03%]
链式颗粒夹紧：软体机器人中一种新型可编程 stiffness 机制
Yongkang Jiang,Diansheng Chen,Che Liu et al.
Yongkang Jiang et al.
The ability to regulate the mechanical stiffness in a large range could be extremely important for soft robots to interact with the environment more effectively. In this article, we propose a novel chain-like granular jamming mechanism to a...
Soft Radio-Frequency Identification Sensors: Wireless Long-Range Strain Sensors Using Radio-Frequency Identification [0.03%]
软射频识别传感器：使用射频识别的无线应变传感器
Lijun Teng,Kewen Pan,Markus P Nemitz et al.
Lijun Teng et al.
Increasing amounts of attention are being paid to the study of Soft Sensors and Soft Systems. Soft Robotic Systems require input from advances in the field of Soft Sensors. Soft sensors can help a soft robot to perceive and to act upon its ...
Origami-Based Vacuum Pneumatic Artificial Muscles with Large Contraction Ratios [0.03%]
一种具有大收缩比的折纸真空气动人工肌肉机构
Jin-Gyu Lee,Hugo Rodrigue
Jin-Gyu Lee
A novel linear actuator called origami-based vacuum pneumatic artificial muscle (OV-PAM) is proposed in this study that can produce large forces (>400 N) with a contraction ratio >90% of the active length of the actuator. Moreover, some of ...
A Soft, Steerable Continuum Robot That Grows via Tip Extension [0.03%]
一种可通过端部延伸生长的柔软可控 continuum 机器人
Joseph D Greer,Tania K Morimoto,Allison M Okamura et al.
Joseph D Greer et al.
Soft continuum robots exhibit access and manipulation capabilities in constrained and cluttered environments not achievable by traditional robots. However, navigation of these robots can be difficult due to the kinematics of these devices. ...
Dielectric Elastomer Spring-Roll Bending Actuators: Applications in Soft Robotics and Design [0.03%]
介电弹性体弹簧卷曲驱动器：软体机器人中的应用及设计研究
Jinrong Li,Liwu Liu,Yanju Liu et al.
Jinrong Li et al.
Soft robotics is an emerging area that attracts more and more attention. The intrinsic flexibility and compliance of soft materials and structures would endow novel functions with soft robots. Dielectric elastomers could deform sustainably ...