Abstract: Modular designs in soft robots enable repair and reconfiguration, making soft modular robots suitable for applications where resilience, flexibility, and adaptability are critical. This paper introduces a modular soft robot (MSR) based on origami actuator modules that are manufactured from reversible polymers, e.g., self-healing polymers. This work highlights … [Read more...] about Reconfigurable Modular Soft Actuator Using Origami Structures With Self-Healing Materials: Several Technological Opportunities for Robotic Applications
Actuators
Integrating Software-Less Reflex Mechanisms Into Soft Robots and a Versatile Gripper: A New Bistable Method
Abstract: While most soft pneumatic grippers that operate with a single control parameter (such as pressure or airflow) are limited to a single grasping modality, this article introduces a new method for incorporating multiple grasping modalities into vacuum-driven soft grippers. This is achieved by combining stiffness manipulation with a bistable mechanism. The system … [Read more...] about Integrating Software-Less Reflex Mechanisms Into Soft Robots and a Versatile Gripper: A New Bistable Method
A Biomimetic and Energy-Efficient Leg Design for a Humanoid Robot: An Exclusively Linear-Actuated Implementation
Abstract: The mobility and manipulation of bipedal humanoid robots always depend on their legs, which account for balance and may substantially accelerate energy consumption, especially when the lower body is expected to be stationary. To this end, this article presents a biomimetic and energy-efficient design for bipedal robots’ legs and extensively demonstrates its … [Read more...] about A Biomimetic and Energy-Efficient Leg Design for a Humanoid Robot: An Exclusively Linear-Actuated Implementation
neoDavid: A Humanoid Robot With Variable-Stiffness Actuation and Dexterous Manipulation Skills
Abstract: Dexterity and strength are essential for performing a variety of tasks in the unstructured environments of household services and craftsmanship. For these tasks, we have developed neoDavid, a robust humanoid robot with dexterous manipulation skills. neoDavid has joints with variable stiffness actuators (VSAs), which have mechanically adjustable elasticity in the … [Read more...] about neoDavid: A Humanoid Robot With Variable-Stiffness Actuation and Dexterous Manipulation Skills
Simplifying Data-Driven Modeling of the Volume–Flow–Pressure Relationship in Hydraulic Soft Robotic Actuators: A Practical and Balanced Solution
Abstract: Soft robotic systems are known for their flexibility and adaptability, but traditional physics-based models struggle to capture their complex, nonlinear behaviors. This study explores a data-driven approach to modeling the volume–flow–pressure relationship in hydraulic soft actuators, focusing on low-complexity models with high accuracy. We perform regression … [Read more...] about Simplifying Data-Driven Modeling of the Volume–Flow–Pressure Relationship in Hydraulic Soft Robotic Actuators: A Practical and Balanced Solution
