...: j.jovanova@tudelft.nl Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 18 11 2022 22 05 2023 22 05 2023 30 05 2023 Compliant Mechanisms Soft Robots Journal of Mechanisms and Robotics. Received...

... in the J ournal of M echanisms and R obotics . 01 04 2023 19 05 2023 22 05 2023 30 05 2023 Legged Robots Mechanism Design Soft Robots Journal of Mechanisms and Robotics. Received April 01, 2023; Accepted manuscript posted May 19, 2023. doi:10.1115/1.4062650 Copyright ©...

... 85. [7] Coyle, S., Majidi, C., LeDuc, P., and Hsia, K. J., 2018. Bio-inspired soft robotics: Material selection, actuation, and design . Extreme Mechanics Letters, 22, pp. 51 59. [8] Rao, P., Peyron, Q., Lilge, S., and Burgner-Kahrs, J., 2021. How to model tendon-driven continuum robots...

...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...

... capabilities and rigidity. However, they have high mechanical complexity, relatively poor compactness, and only expand the available robot's available workspace by a few times its body span. Additionally, many bending robotic limbs have recently been developed, with a variety of soft robots and continuum arms...

.... , and Zoppi , M. , 2022 , “ Hedra: A Bio-Inspired Modular Tensegrity Robot With Polyhedral Parallel Modules ,” IEEE 5th International Conference on Soft Robotics (RoboSoft) , Edinburgh, UK , Apr. 4–8 , pp. 559 – 564 . [7] Sabelhaus , A. P. , van Vuuren , L. J. , Joshi , A. , Zhu...

... 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...

... of MACRO architecture is another avenue of future work that we plan to undertake. This work 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...

... the range of deformation behavior. Finally, we compare the actuation effort required to actuate different MACRO meshes and show that the actuation effort is related to the nodal connectivity of the mesh. bio-inspired design compliant mechanisms robot design soft robots For a mesh topology...

... 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...

... of joints that are constructed by parallel actuators, achieving rotation and extension. The inability to output twisting and lateral translations concurrently in the joints hinders the applications of such soft manipulators that require dexterous manipulation. In this work, the tilted actuator soft robotic...

...Peilin Cheng; Yuze Ye; Bo Yan; Yebo Lu; Chuanyu Wu Soft pneumatic actuators (SPAs) play an important role in leading the development of soft robotics. However, due to the inherent characteristics of soft materials, the low driving force limits the application of SPAs. This study presents a high...