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
Pneumatic actuators
FEA-Based Inverse Kinematic Control: Hyperelastic Material Characterization of Self-Healing Soft Robots
Recent advances in soft continuum robots revealed the need for accurate models, required to develop advanced control strategies. In this article, a general methodology is presented that allows to create an accurate inverse kinematic control based on hyperelastic models, fitted on mechanical material properties. This methodology is based on finite element analysis (FEA) and … [Read more...] about FEA-Based Inverse Kinematic Control: Hyperelastic Material Characterization of Self-Healing Soft Robots
