Finite Element Method-Based Kinematics and Closed-Loop Control of Soft, Continuum Manipulators [0.03%]
基于有限元方法的软体连续 manipulator 的运动学及闭环控制
Thor Morales Bieze,Frederick Largilliere,Alexandre Kruszewski et al.
Thor Morales Bieze et al.
This article presents a modeling methodology and experimental validation for soft manipulators to obtain forward kinematic model (FKM) and inverse kinematic model (IKM) under quasi-static conditions (in the literature, these manipulators ar...
Improving Mechanical Properties of Molded Silicone Rubber for Soft Robotics Through Fabric Compositing [0.03%]
通过织物复合改善软体机器人模制硅胶橡胶的机械性能
Yue Wang,Cherry Gregory,Mark A Minor
Yue Wang
Molded silicone rubbers are common in manufacturing of soft robotic parts, but they are often prone to tears, punctures, and tensile failures when strained. In this article, we present a fabric compositing method for improving the mechanica...
Design of a Lightweight Soft Robotic Arm Using Pneumatic Artificial Muscles and Inflatable Sleeves [0.03%]
基于气动肌肉和可充气护套的轻量化柔性机械臂设计
Preston Ohta,Luis Valle,Jonathan King et al.
Preston Ohta et al.
As robots begin to interact with humans and operate in human environments, safety becomes a major concern. Conventional robots, although reliable and consistent, can cause injury to anyone within its range of motion. Soft robotics, wherein ...
Growing the Soft Robotics Community Through Knowledge-Sharing Initiatives [0.03%]
通过知识共享项目扩大软体机器人社区的影响范围
Dónal P Holland,Sara Berndt,Maxwell Herman et al.
Dónal P Holland et al.
Understanding Fish Linear Acceleration Using an Undulatory Biorobotic Model with Soft Fluidic Elastomer Actuated Morphing Median Fins [0.03%]
利用软流体弹性执行器模态中鳍变形的波动仿生模型理解鱼类线性加速度
Li Wen,Ziyu Ren,Valentina Di Santo et al.
Li Wen et al.
Although linear accelerations are an important common component of the diversity of fish locomotor behaviors, acceleration is one of the least-understood aspects of propulsion. Analysis of acceleration behavior in fishes with both spiny and...
Nonlinear Parametric Excitation Effect Induces Stability Transitions in Swimming Direction of Flexible Superparamagnetic Microswimmers [0.03%]
非线性参数激励效应诱导柔性超顺磁微游动器游泳方向的稳定性转变
Yuval Harduf,Dongdong Jin,Yizhar Or et al.
Yuval Harduf et al.
Microscopic artificial swimmers have recently become highly attractive due to their promising potential for biomedical microrobotic applications. Previous pioneering work has demonstrated the motion of a robotic microswimmer with a flexible...
Fully Soft 3D-Printed Electroactive Fluidic Valve for Soft Hydraulic Robots [0.03%]
用于软液压机器人的全软3D打印电活性流体阀
Alex Zatopa,Steph Walker,Yigit Menguc
Alex Zatopa
Soft robots are designed to utilize their compliance and contortionistic abilities to both interact safely with their environment and move through it in ways a rigid robot cannot. To more completely achieve this, the robot should be made of...
The Natural-CCD Algorithm, a Novel Method to Solve the Inverse Kinematics of Hyper-redundant and Soft Robots [0.03%]
一种求解超冗余及软体机器人逆运动学问题的新方法：天然CCD算法
Andrés Martín,Antonio Barrientos,Jaime Del Cerro
Andrés Martín
This article presents a new method to solve the inverse kinematics problem of hyper-redundant and soft manipulators. From an engineering perspective, this kind of robots are underdetermined systems. Therefore, they exhibit an infinite numbe...
Marlene Langer,Ernar Amanov,Jessica Burgner-Kahrs
Marlene Langer
Added to their high dexterity and ability to conform to complex shapes, continuum robots can be further improved to provide safer interaction with their environment. Indeed, controlling their stiffness is one of the most challenging yet pro...
Initial Design and Experimental Evaluation of a Pneumatic Interference Actuator [0.03%]
气动干涉执行器的初步设计与实验评估
Christopher R Nesler,Tim A Swift,Elliott J Rouse
Christopher R Nesler
Substantial device mass and control complexity can hinder the impact of wearable robotic technologies, such as exoskeletons. Thus, despite promising previous research, the development of a simple, lightweight actuator for these systems has ...