Development of a Contraction Force Control Method for Bioactuators Using a Muscle Contraction Model [0.03%]
基于肌肉收缩模型的生物 actuators 收缩力控制方法研究
Mutsuki Hagiwara,Wataru Hijikata
Mutsuki Hagiwara
Bioactuators consisting of cultured skeletal muscle and an artificial lattice have not only the same flexibility as soft actuators but also the same biological functions; both are glucose-driven and capable of self-growth and self-repair. T...
A 2.6-g Untethered Microrobot with Maneuverable Crawling and High Jumping Performance [0.03%]
一种能爬行和高跳的2.6毫克无缆微型机器人
Lai Cao,Guobin Lu,Zhengyuan Wang et al.
Lai Cao et al.
Microrobots with multimodal locomotion offer distinct advantages in adapting to complex environments. However, achieving both untethered and controllable crawling and jumping within a centimeter-scale platform remains a significant challeng...
Real-Time Whole-Body Contact Estimation of Continuum Robots Using Multiplexed Fibers for Embodied Actuation and Sensing to Quantify Interactions [0.03%]
用于实体机构与感知的多路复用光纤的连续体机器人全身接触实时估计以量化相互作用
Zecai Lin,Jingyuan Xia,Zheng Xu et al.
Zecai Lin et al.
Millimeter cable-driven continuum robots exhibit shape conforming, dexterous manipulation capabilities in constrained environments. They are increasingly used for narrow space and endoluminal intervention. For delicate manipulation, quantif...
Zihao Yuan,Feifei Chen,Xinjia Huang et al.
Zihao Yuan et al.
Soft creatures like Drosophila larvae can quickly ascend tubular surfaces via rolling, a capability not yet replicated by soft robots. Here, we present a single-piece soft robot capable of rolling along tubular structures by sequentially ac...
Multifunctional Origami-Inspired Bimodal Wireless Pneumatic Soft Actuator [0.03%]
一种多模式无线气动软体执行器及其仿生应用
Baiqian Xu,Xiang Xiao,Juncai Song et al.
Baiqian Xu et al.
Pneumatic soft actuators hold great potential in applications such as surgery and artificial muscles, while facing limitations mainly due to external pumps. This study presents an origami-inspired soft actuator eliminating traditional pumps...
Adaptive Control and Optimal Trajectory Generation for Highly Dynamic Tasks on a Soft Robot [0.03%]
自适应控制和高度动态任务下的软体机器人最优轨迹生成方法研究
Haley P Sanders,Curtis C Johnson,Marc D Killpack
Haley P Sanders
Large-scale soft robots have the capability and potential to perform highly dynamic tasks such as hammering a nail into a board, throwing items long distances, or manipulating objects in cluttered environments. This is due to their joints b...
Selective Variable Stiffness Flexible Manipulator for Dexterous In-Hand Manipulation [0.03%]
一种用于灵巧指尖操作的可变刚度柔性机械臂
Benzhu Guo,Zeang Zhao,Zhong Zhang et al.
Benzhu Guo et al.
Adaptive grasping and dexterous manipulation of random objects in unstructured environments have broad practical significance. Compared with traditional rigid manipulators, flexible manipulators possess better adaptability and safety, and t...
Far-Field Magnetic Sensing on Soft Origami Actuator for Spatial Multidimensional Movement and Force Perception [0.03%]
基于软折纸执行器的远场磁感器实现空间多维运动与力感知研究
Juan Yi,Jiahao Xu,Yuxuan Deng et al.
Juan Yi et al.
Soft robots exhibit exceptional flexibility and adaptability, enabling them to dynamically adjust their body shapes in unstructured environments for a wide range of applications. This motivates an extensive investigation of soft sensing tec...
Enabling Tunable Stiffness, Adhesive Grasping, and Interaction-Driven Reconfiguration: A Shape-Memory-Polymer-Enhanced Fin-Ray Gripper [0.03%]
一种形状记忆聚合物增强的鱼鳍指结构夹持器，可调刚度、粘性抓取及交互驱动重构功能
Haotian Guo,Hao Wu,Yanzhe Wang et al.
Haotian Guo et al.
Soft grippers offer a compelling solution for handling tasks in diverse environments due to their inherent safety and adaptability. However, enhancing their versatility, particularly in load capacity and grasping range, while minimizing act...
A Soft Amphibious Turtle Robot with Flexibility and Omnidirectional Motion Ability Actuated by Multiple Bionic Muscles [0.03%]
一种具有柔性和全方位运动能力的仿生肌肉驱动的软两栖乌龟机器人
Yiwei Zhang,Ruiqian Wang,Lianchao Yang et al.
Yiwei Zhang et al.
Amphibious robots have great application potential in many unstructured task scenarios, such as environmental monitoring, resource exploration, and maritime rescue, due to their cross-medium movement capabilities and adaptability to multipl...