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Article
Chemistry, Multidisciplinary
Yegor Piskarev et al.
Summary: This study introduces a new type of variable stiffness magnetic catheter, using a conductive shape memory polymer to make variable stiffness lines, which are non-toxic, serve as heaters, temperature sensors, and variable stiffness substrates, etc., through a new scalable manufacturing process.
Through the external magnetic field, selective bending of a multisegmented VST catheter with a diameter of 2.0mm is demonstrated, with lower wall thickness and outer diameter, achieving up to 51 degrees of bending and exhibiting a stiffness change factor of 21.
ADVANCED FUNCTIONAL MATERIALS
(2022)
Article
Robotics
Dylan S. Shah et al.
Summary: Advancements in tensegrity robotics, inspired by biological principles, allow robots to change shape by adjusting internal tension; various design and simulation techniques enable a wide range of locomotion modes; emerging challenges include automated design, state sensing, and kinodynamic motion planning.
Review
Chemistry, Multidisciplinary
Yangtai Hao et al.
Summary: This article provides a comprehensive review of the low melting point alloy (LMPA)-enabled stiffness tunable materials. It discusses the material systems, regulation strategies, stiffness regulation modes, and applications of LMPA-enabled stiffness tunable materials. The article also offers a perspective on the potentials and challenges of these materials.
ADVANCED FUNCTIONAL MATERIALS
(2022)
Article
Robotics
Haibo Wang et al.
Summary: This article introduces a flexible manipulator that utilizes the phase transformation property of low-melting-point alloy to adjust stiffness. Experimental results show the manipulator's ability to freely adjust direction and transition between rigid and flexible states efficiently. The manipulator demonstrates potential clinical value for minimally invasive surgery by enriching diagnostic and treatment functions.
Article
Robotics
Botao Lin et al.
Summary: This letter presents a new design of modular lockable mechanism for changing the stiffness of tendon-driven surgical robots, achieving more stable configurations and larger workspace.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Robotics
Zhiqiu Ye et al.
Summary: This letter presents a soft robot skin that can mediate on-body tactile signals during tasks, adapt to complex robot contours, and enable real-time collision detection with high sensitivity and fast response time.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Chemistry, Multidisciplinary
Huizhen Yan et al.
Summary: This study develops a new sensor strategy using skin-like hydrogel sensors to enable perception for CDCR robots. The sensors have high fracture strain and strong adhesion, allowing for manual operation and the construction of a closed-loop control system.
ADVANCED FUNCTIONAL MATERIALS
(2022)
Article
Multidisciplinary Sciences
Andrew K. Schulz et al.
Summary: The elephant's trunk is a multifunctional organ that is both flexible to wrap around vegetation and tough to knock down trees and resist attack. Through a combined experimental and theoretical study, researchers found that the trunk has a dorsal joint and asymmetric skin patterns, allowing it to meet different functional requirements.
PROCEEDINGS OF THE NATIONAL ACADEMY OF SCIENCES OF THE UNITED STATES OF AMERICA
(2022)
Article
Robotics
Jie Zhang et al.
Summary: This paper presents a special design for a continuum robot with an additional stretching degree of freedom, which allows for high flexibility in both bending and contraction motion patterns. The potential applications of this robot design in tasks of traveling through holes and avoiding obstacles are also demonstrated.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Automation & Control Systems
Dong Zhou et al.
Summary: Soft robots made from soft materials have advantages in environmental adaptability and motion flexibility, but their load capacity is limited due to their soft body. This article presents a new inchworm driving method using inclined supporting feet and twisted artificial muscle (TAM), which enables a single tensegrity unit to have multi-motion capacity and high load capacity.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2022)
Article
Robotics
Giovanna A. Naselli et al.
Summary: Modeling soft robots is challenging due to their highly nonlinear mechanical behavior. Researchers are currently working on developing a unified framework for modeling, with the concept of softness distribution index (SDI) being introduced to help in selecting modeling techniques. The investigation is currently focused on bodies performing planar bending.
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
(2021)
Editorial Material
Biochemistry & Molecular Biology
Scott L. Hooper
Summary: The elephant trunk, which has essentially infinite freedom of movement, simplifies complex actions by using twelve motor primitives to generate most observed trunk movements.
Article
Engineering, Mechanical
Fei Li et al.
Summary: This study introduces a symplectic instantaneous optimal control method for kinodynamic planning of spinal tensegrity manipulators, developing a general dynamic model and proposing an IOC planner to plan collision-free paths in complex dynamic environments. The effectiveness of the symplectic IOC approach is demonstrated through numerical experiments on a tensegrity manipulator.
NONLINEAR DYNAMICS
(2021)
Article
Robotics
Wen-Yung Li et al.
Summary: This letter introduces a novel method for shape recognition using the combination of tensegrity structure and soft sensors through a recurrent neural network. The method involves building a tensegrity prism with soft sensors and using a motion-capture system to obtain position data, which is then utilized for training the RNN to predict shape variation. By connecting multiple prisms, this approach can be used to recognize the shape of a three-dimensional environment that is difficult to observe directly.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Robotics
Shuhei Ikemoto et al.
Summary: This study presents a tensegrity robot arm that replicates the features of complex musculoskeletal structures and can be deformed like a continuum manipulator. The design method utilizes simple and flexible strict tensegrity modules connected recursively to maintain strict tensegrity. The obtained tensegrity structure resists compressive forces longitudinally but is flexible in bending direction.
FRONTIERS IN ROBOTICS AND AI
(2021)
Article
Robotics
Yuyang Chen et al.
Summary: This study proposed a variable curvature model for multi-backbone continuum robots based on the Cosserat rod theory, focusing on factors affecting the robot's shape and deriving a compact formula for real-time control by simplifying constraints. Experimental results demonstrated that the proposed model outperformed the constant curvature model in terms of accuracy and computational efficiency.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Biochemistry & Molecular Biology
Paule Dagenais et al.
Summary: The elephant proboscis, functioning as a muscular hydrostat, has evolved strategies to reduce biomechanical complexity while still allowing for a wide range of movements for object manipulation, social interactions, and sensory functions. The trunk is capable of complex behaviors through a finite set of basic movements and can form pseudo-joints for point-to-point motion. By studying the high-resolution motion capture and functional morphology of the trunk, researchers have been able to extract motion primitives and establish connections between motion primitives and muscular synergies.
Review
Materials Science, Multidisciplinary
Weiqiang Dou et al.
Summary: Soft robotic manipulators are continuum robots made of soft materials, aiming to adapt to cluttered environments and interact safely with humans, but face challenges in practical applications. Challenges in soft robotic manipulators include materials and structure design, stiffness control, perception, and function control. Recent research advancements in soft robotic manipulators mainly focus on device architecture, actuation, stiffness variation, and sensing technologies.
ADVANCED MATERIALS TECHNOLOGIES
(2021)
Article
Automation & Control Systems
Amir Mohammadi Nasab et al.
Summary: A novel design concept of robust three-component elastomer-particle-fiber composite system with tunable mechanical stiffness and electrical conductivity is introduced for soft robotics applications. The performance of the composite can be reasonably estimated using effective medium theory. Joule heating can be used as the activation mechanism to achieve significant stiffness changes in seconds.
ADVANCED INTELLIGENT SYSTEMS
(2021)
Article
Engineering, Mechanical
Xinxue Chai et al.
CHINESE JOURNAL OF MECHANICAL ENGINEERING
(2020)
Article
Robotics
Chenghao Yang et al.
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
(2020)
Article
Robotics
Davide Zappetti et al.
Article
Robotics
Federico Renda et al.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2020)
Article
Robotics
Robert L. Baines et al.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2020)
Article
Robotics
Yoonho Kim et al.
Article
Mechanics
Ziyun Kan et al.
COMPOSITE STRUCTURES
(2018)
Article
Multidisciplinary Sciences
Jianing Wu et al.
JOURNAL OF THE ROYAL SOCIETY INTERFACE
(2018)
Article
Chemistry, Multidisciplinary
Ji Liu et al.
ADVANCED MATERIALS
(2017)
Article
Chemistry, Multidisciplinary
Alice Tonazzini et al.
ADVANCED MATERIALS
(2016)
Review
Engineering, Aerospace
Minghe Shan et al.
PROGRESS IN AEROSPACE SCIENCES
(2016)
Review
Multidisciplinary Sciences
Daniela Rus et al.
Article
Engineering, Biomedical
Federico Carpi et al.
MEDICAL ENGINEERING & PHYSICS
(2014)
Article
Robotics
Adam A. Stokes et al.
Article
Robotics
Michael T. Tolley et al.
Review
Robotics
Robert J. Webster et al.
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
(2010)
Article
Multidisciplinary Sciences
Eric Brown et al.
PROCEEDINGS OF THE NATIONAL ACADEMY OF SCIENCES OF THE UNITED STATES OF AMERICA
(2010)
Article
Computer Science, Artificial Intelligence
NG Tsagarakis et al.
