...Milad Azizkhani; Junhyoung Ha; Anthony L. Gunderman; Yue Chen This article addresses the kinematic control of a redundant soft robotic arm. Full pose kinematic control of soft robots is challenging because direct application of the classical controllers developed based on rigid robots to soft...

... of ASME for publication in the J ournal of M echanisms and R obotics . 2 https://github.com/BenL1997/JMR-code.git 20 09 2024 14 01 2025 15 01 2025 11 02 2025 soft robotics pneumatic soft actuators inverse design 3D variable curvature bio-inspired grasping...

...Junho Hong; Daehie Hong; Chanwoo Kim; Seong Hyeon Won The tendon−sheath mechanism (TSM) has garnered attention for its versatile applications in soft robotics, robotic hands, and surgical robots due to its adeptness in transmitting force through tortuous and narrow channels. However, the precise...

... kinematic behavior possible with polygonal cross-sectional kirigami tubes has potential applications ranging from soft robotics to energy-dissipating devices. Email: m.g.walker@surrey.ac.uk Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms...

... the required deformation. In conclusion, the soft-grasping gripper actuator can realize large bending deformation and shows potential for developing soft grippers in multi-scale physical scenarios. compliant mechanisms soft robotics The research on soft robotics is mainly based on experiments...

.../tmech.2015.2498738 [21] Xu , Y. , Peyron , Q. , Kim , J. , and Burgner-Kahrs , J. , 2021 , “ Design of Lightweight and Extensible Tendon-Driven Continuum Robots Using Origami Patterns ,” Proceedings of the 2021 IEEE 4th International Conference on Soft Robotics (RoboSoft...

...Zhili Chen; Hamed Rahimi Nohooji; Chee-Meng Chew This paper proposed a systematic framework to automatically design and fabricate optimized soft robotic fingers. The soft finger is composed of a soft silicone structure with inner air chambers and a harder outer layer, which are fabricated...

... 12 2019 actuators and transmissions soft robotics dielectric elastomers Within the field of soft robotics, much research and some development have been conducted on the utilization of dielectric elastomers (DEs) as actuators (and sensors) due to their advantages over other types...

... , H. , 2015 , “ Continuum Robots for Medical Applications: A Survey ,” IEEE Trans. Rob. , 31 ( 6 ), pp. 1261 – 1280 . 10.1109/TRO.2015.2489500 [3] Trivedi , D. , Rahn , C. D. , Kier , W. M. , and Walker , I. D. , 2008 , “ Soft Robotics: Biological Inspiration, State...

... ournal of M echanisms and R obotics . 15 05 2019 14 09 2019 16 09 2019 19 09 2019 soft rotary actuator vacuum-actuated actuator modeling soft robotics actuators and transmissions mechanism design novel fabrication techniques In recent years, soft robotics...