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Keywords: soft robots
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Journal Articles
Accepted Manuscript
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-22-1317
Published Online: December 1, 2022
... Mechanism Design robot design Soft Robots National Natural Science Foundation of China 10.13039/501100001809 51865001 Journal of Mechanisms and Robotics. Received July 04, 2022; Accepted manuscript posted November 23, 2022. doi:10.1115/1.4056377 Copyright © 2022 by ASME Journal...
Topics: Grasping
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051011.
Paper No: JMR-22-1084
Published Online: November 25, 2022
...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...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041003.
Paper No: JMR-21-1579
Published Online: November 10, 2022
... continuum/soft robots are enumerated and discussed in Ref. [ 28 ]. Recently, combinations of continuum/soft robots with parallel structures are emerging as parallel continuum/soft robots. Such robots can benefit from the advantages of parallel robots, e.g., high stiffness and high operation speed, when...
Journal Articles
Accepted Manuscript
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-22-1075
Published Online: October 11, 2022
... 11 10 2022 compliant mechanisms Mechanism Design Soft Robots Accepted Manuscript Not Copyedited Journal of Mechanisms and Robotics. Received February 24, 2022; Accepted manuscript posted October 04, 2022. doi:10.1115/1.4055933 Copyright © 2022 by ASME Shape-Adaptive Electrostatic Soft...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 061001.
Paper No: JMR-21-1347
Published Online: September 12, 2022
... 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...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 061003.
Paper No: JMR-21-1741
Published Online: September 12, 2022
... Actuators ,” ASME J. Mech. Rob. , 7 ( 2 ), p. 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...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021015.
Paper No: JMR-21-1384
Published Online: July 19, 2022
...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...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021012.
Paper No: JMR-21-1510
Published Online: June 23, 2022
... 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.” There are no conflicts of interest. The datasets generated and supporting the findings of this article...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021013.
Paper No: JMR-21-1511
Published Online: June 23, 2022
... 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 The goal of this paper...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021010.
Paper No: JMR-21-1459
Published Online: June 22, 2022
... echanisms and R obotics . 12 09 2021 31 05 2022 31 05 2022 22 06 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...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021006.
Paper No: JMR-22-1026
Published Online: June 21, 2022
... was fabricated and tested, which can move smoothly along the ground. 16 01 2022 12 05 2022 13 05 2022 21 06 2022 mobile robots robot design soft robots Guangzhou Science and Technology Program key projects 10.13039/501100004000 201904020020 National Natural Science...
Journal Articles
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2022, 14(6): 060912.
Paper No: JMR-21-1722
Published Online: June 21, 2022
... 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...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 060908.
Paper No: JMR-21-1730
Published Online: May 26, 2022
...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...
Journal Articles
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2023, 15(1): 014501.
Paper No: JMR-21-1478
Published Online: April 25, 2022
...Xianpai Zeng; Hai-Jun Su This article presents a novel soft robotic gripper with a high payload capacity based on the layer jamming technology. Soft robots have a high adaptability, however suffer a low payload capacity. To overcome these conflicting challenges, here we introduce a 3D printed multi...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051002.
Paper No: JMR-21-1186
Published Online: February 18, 2022
... medical robotics robot design soft robots Procedures in the natural lumina of the human body are indispensable in minimally invasive diagnostic and therapeutic procedures [ 1 ]; however, complete controlled access to the entire gastrointestinal (GI) tract [ 2 ] and circulatory system [ 3...
Topics: Design, Robots
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051003.
Paper No: JMR-21-1284
Published Online: February 18, 2022
...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...
Includes: Supplementary data
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. June 2022, 14(3): 031004.
Paper No: JMR-21-1064
Published Online: November 16, 2021
... are often used as the basis for multi-chamber soft robotic systems, for example, bending actuators. In the virtual work model, each type of reinforcement leads to particular geometric constraints; the energy of the stretched material is determined by the Yeoh material model. Finally, the stretch...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. June 2022, 14(3): 031001.
Paper No: JMR-21-1109
Published Online: November 15, 2021
...Yitong Zhou; Leon M. Headings; Marcelo J. Dapino Soft robotic grippers can gently grasp and maneuver objects. However, they are difficult to model and control due to their highly deformable fingers and complex integration with robotic systems. This paper investigates the design requirements as well...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. December 2021, 13(6): 061015.
Paper No: JMR-21-1069
Published Online: September 13, 2021
... There is a surge of research interest in the field of soft robotics. Soft robotics can transfer motion and force using flexure structures, enabling shape adaptation to various locomotion modes [ 1 , 2 ]. However, soft robotics cannot transmit strong forces to interact with the environment due to their lack...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2022, 14(1): 011012.
Paper No: JMR-20-1574
Published Online: August 11, 2021
...Amehri Walid; Gang Zheng; Alexandre Kruszewski; Federico Renda This article investigates the workspace estimation of soft manipulators. Given a configuration of such a soft robot, with the bounded actuators, the discrete Cosserat method is adopted to deduce the mathematical model of soft...