... with simple fabrication and low cost, we propose a novel design of soft robot fish. The design methodology to accomplish optimal swimming performance is discussed, based on both kinematic and hydrodynamic analyses. Kinematic performance of various locomotion patterns within the BCF swimmers—in terms...

... Compliant Mechanisms Compliant Mechanisms and Robots Mechanism Design Mechanisms and Robots Soft Robots Journal of Mechanisms and Robotics. Received April 17, 2023; Accepted manuscript posted August 03, 2023. doi:10.1115/1.4063168 Copyright © 2023 by ASME Accepted Manuscript Not Copyedited Six-bar...

... of ASME for publication in the J ournal of M echanisms and R obotics . 24 10 2022 16 06 2023 23 06 2023 08 08 2023 energy-saving shape memory alloy tristable structure leaf spring 3D printing mechanism design soft robots Soft grippers can grip objects...

... as 1.5% to 14.3% and 1.6 %  to  22.8 % respectively. They estimated an annual cost-of-illness of 7 billion euros in Europe and Canada combined and 66 billion US dollars in the US [ 5 ]. mechanism design medical robotics soft robots 07 11 2022 04 06 2023 07 06...

...Yitong Zhou; Zefeng Xu Bistable soft robots are gaining momentum for their fast speed. This study presents a novel asymmetric mechanically prestressed, pneumatically driven, bistable laminated soft actuator. Its two orthogonal stable shapes are created by prestretching two orthogonal elastomer...

...Revanth Konda; David Bombara; Ember Chow; Jun Zhang Realizing high-performance soft robots is challenging because many existing soft or compliant actuators exhibit limitations like fabrication complexity, high power requirement, slow actuation, and low force generation. Due to their high-force...

... Committee of ASME for publication in the J ournal of M echanisms and R obotics . 04 12 2022 16 04 2023 17 04 2023 02 05 2023 cable-driven mechanisms mechanism design medical robotics soft robots Tendon-driven robotic manipulators (TDRMs) have been used for various...

... of Soft Robots ,” Nature , 521 ( 7553 ), pp. 467 – 475 . 10.1038/nature14543 [16] Uppalapati , N. K. , and Krishnan , G. , 2020 , “ Valens: Design of a Novel Variable Length Nested Soft Arm ,” IEEE Robot. Autom. Lett. , 5 ( 2 ), pp. 1135 – 1142 . 10.1109/LRA.2020.2967303 [17...

... of the mechanism. The behavior of the strings is piece-wise continuous to model their slack, compliant, or tension states. bio-inspired design robot design soft robots tensegrity continuum manipulator soft manipulator Fig. 13 Form-finding with a non-zero force. Strings A 2 C 1 , A 2 B 1...

... in the J ournal of M echanisms and R obotics . 06 08 2022 12 12 2022 14 12 2022 23 01 2023 compliant mechanisms multi-body dynamics and exoskeletons soft robots wearable robots National Natural Science Foundation of China 10.13039/501100001809 51875335...

... 2022 04 10 2022 09 12 2022 compliant mechanisms mechanism design soft robots National Research Foundation of Korea (NRF) 10.13039/501100003725 2020R1A4A1018227 2021R1A2C3012387 A soft robotic gripper is an efficient end-effector that can pick and place various...

...Qingyu Xiao; Mishek Musa; Isuru S. Godage; Hao Su; Yue Chen Soft robots can undergo large elastic deformations and adapt to complex shapes. However, they lack the structural strength to withstand external loads due to the intrinsic compliance of fabrication materials (silicone or rubber...

... mechanism design parallel platforms soft robots theoretical kinematics A continuum robot is defined as an actuatable structure whose constitutive material forms curves with continuous tangent vectors [ 1 ]. The very nature of inherent compliance and ease of miniaturization make them suitable...

... soft robot deduced via the adopted Discrete Cosserat method. The proposed methodology is validated on several planar and spatial slender soft manipulators’ configurations, where we show its advantage of reducing computation complexity for estimating the workspace, compared to traditional forward...

.... 021014 . 10.1115/1.4029494 [6] Rus , D. , and Tolley , M. T. , 2015 , “ Design, Fabrication and Control of Soft Robots ,” Nature , 521 ( 7553 ), pp. 467 – 475 . 10.1038/nature14543 [7] Lang , R. J. , 2011 , Origami Design Secrets: Mathematical Methods for an Ancient...

...Oyuna Angatkina; Andrew G. Alleyne; Aimy Wissa This article presents critical design modifications for an O rigami-enabled S oft C rawling A utonomous R obot (OSCAR). OSCAR’s upgraded design mitigates motion uncertainties, which often plague soft robots. More specifically, we present a design...

... was supported by the US National Science Foundation (Grant No. 1832795), “EFRI C3 SoRo: Muscle-like Cellular Architectures and Compliant, Distributed Sensing and Control for Soft Robots.” In the future, we plan to extend this work to solve the inverse problem of designing a MACRO mesh for a desired...

... by the US National Science Foundation under Grant No. 1832795, “EFRI C3 SoRo: Muscle-like Cellular Architectures and Compliant, Distributed Sensing, and Control for Soft Robots”. In future work, we plan to use the stiffness and strain characteristics obtained in this two-part paper to predict...

... 2022 bio-inspired design mechanism design mobile robots robot design soft robots Japan Society for the Promotion of Science 10.13039/501100001691 JP19K23502 Pipes are essential industrial components for transporting gas and fluids. They have been widely used not only...

... help us to understand the inherent mechanisms behind the locomotion of different animals. Instead of independently designing different functional modules, a more compact and integrated robot will be considered. Also, the construction of soft robots using the spatial deformation of DEAs...