Journal: Soft Robotics

Abbreviation

Soft Robotics

Publisher

Mary Ann Liebert

Journal Volumes

ISSN

2169-5172
2169-5180

Description

Filters

2014 - 2019122020 - 20259
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Publications 1 - 10 of 21
  • News and Views: Soft robotics on the move: Scientific networks, activities, and future challenges.
    Item type: Journal Article
    Nurzaman, Surya G.; Iida, Fumiya; Margheri, Laura; et al. (2014)
    Soft Robotics
  • Autonomous Object Manipulation Using a Soft Planar Grasping Manipulator
    Item type: Journal Article
    Katzschmann, Robert K.; Marchese, Andrew D.; Rus, Daniela (2015)
    Soft Robotics
    This paper presents the development of an autonomous motion planning algorithm for a soft planar grasping manipulator capable of grasp-and-place operations by encapsulation with uncertainty in the position and shape of the object. The end effector of the soft manipulator is fabricated in one piece without weakening seams using lost-wax casting instead of the commonly used multi-layer lamination process. The soft manipulation system can grasp randomly positioned objects within its reachable envelope and move them to a desired location without human intervention. The autonomous planning system leverages the compliance and continuum bending of the soft grasping manipulator to achieve repeatable grasps in the presence of uncertainty. A suite of experiments is presented that demonstrates the system's capabilities.
  • Long-Term Performance of a Pneumatically Actuated Soft Pump Manufactured by Rubber Compression Molding
    Item type: Journal Article
    Kohll, A. Xavier; Cohrs, Nicholas H.; Walker, Roland; et al. (2019)
    Soft Robotics
  • An Untethered, Jumping Roly-Poly Soft Robot Driven by Combustion
    Item type: Journal Article
    Loepfe, Michael; Schumacher, Christoph M.; Lustenberger, Urs B.; et al. (2015)
    Soft Robotics
  • Matryoshka-Inspired Micro-Origami Capsules to Enhance Loading, Encapsulation, and Transport of Drugs
    Item type: Journal Article
    Huang, Hen-Wei; Tibbitt, Mark W.; Huang, Tian-Yun; et al. (2019)
    Soft Robotics
  • Increased Longevity and Pumping Performance of an Injection Molded Soft Total Artificial Heart
    Item type: Journal Article
    Guex, Leonard G.; Jones, Lewis; Kohll, A. Xavier; et al. (2021)
    Soft Robotics
    In this work, we present an injection molded soft total artificial heart (sTAH) produced from high-temperature vulcanizing silicone using an industrial metal injection mold. At 60 beats per minute, the sTAH exhibited a total cardiac output of over 16 L/min against physiological pressures on a mock circulation and was pumped continuously for 110,000 actuation cycles. Finite element analysis was used to identify stress concentrations within the sTAH, allowing an optimized design to be proposed.
  • Soft Robotics Education
    Item type: Journal Article
    Yu, Xiaoxiang; Nurzaman, Surya Girinatha; Culha, Utku; et al. (2014)
    Soft Robotics
  • Soft Robotics for Architects
    Item type: Journal Article
    Rossi, Dino; Nagy, Zoltán; Schlueter, Arno (2014)
    Soft Robotics
  • A Comparison of Pneumatic Actuators for Soft Growing Vine Robots
    Item type: Journal Article
    Kübler, Alexander M.; Du Pasquier, Cosima; Low, Andrew; et al. (2024)
    Soft Robotics
    Soft pneumatic actuators are used to steer soft growing "vine" robots while being flexible enough to undergo the tip eversion required for growth. In this study, we compared the performance of three types of pneumatic actuators in terms of their ability to perform eversion, quasi-static bending, dynamic motion, and force output: the pouch motor, the cylindrical pneumatic artificial muscle (cPAM), and the fabric pneumatic artificial muscle (fPAM). The pouch motor is advantageous for prototyping owing to its simple manufacturing process. The cPAM exhibits superior bending behavior and produces the highest forces, whereas the fPAM actuates fastest and everts at the lowest pressure. We evaluated a range of dimensions for each actuator type. Larger actuators can produce more significant deformations and forces, but smaller actuators inflate faster and can evert at a lower pressure. Because vine robots are lightweight, the effect of gravity on the functionality of different actuators is minimal. We developed a new analytical model that predicts the pressure-to-bending behavior of vine robot actuators. Using the actuator results, we designed and demonstrated a 4.8 m long vine robot equipped with highly maneuverable 60 x 60 mm cPAMs in a three-dimensional obstacle course. The vine robot was able to move around sharp turns, travel through a passage smaller than its diameter, and lift itself against gravity.
  • Design and Computational Modeling of a 3D Printed Pneumatic Toolkit for Soft Robotics
    Item type: Journal Article
    Du Pasquier, Cosima; Chen, Tian; Tibbits, Skylar; et al. (2019)
    Soft Robotics
Publications 1 - 10 of 21