Simultaneous Robot-World, Sensor-Tip, and Kinematics Calibration of an Underactuated Robotic Hand with Soft Fingers

IEEE ACCESS. PREPRINT VERSION. ACCEPTED Dec, 2017 Simultaneous Robot-World, Sensor-Tip, and Kinematics Calibration of an Underactuated Robotic Hand with Soft Fingers Ning Tan, Xiaoyi Gu, and Hongliang Ren Senior Member, IEEE Abstract—Soft robotics is a research field growing rapidly with primary focuses on the prototype design, development of soft robots and their applications. Due to their highly deformable features, it … Continue reading

Shape Morphing Microscale Soft Robotic Actuators

Abstract The micro actuator has been studied for its application in micro operations such as manipulating cellular aggregate, the tissues or drug delivery. The traditional actuation methods include thermo-mechanical actuation, electromagnetic actuation, electrostatic actuation and pneumatic actuation. Among these actuation methods, pneumatic actuation has the advantage of not generating heat and current during actuation. We investigate 1) a streamlined and … Continue reading

Soft Robotic Manipulators: fabrication & applications

Abstract Flexible robotic manipulators have been widely used in minimally invasive surgery (MIS) and many other applications requiring closer inspection and operation. Although a variety of manipulators enabled by different mechanism have been developed, few of them can preserve softness, thinness and decent bending capability simultaneously. We develop miniature soft robotic manipulators made of hyper-elastic silicone rubber. Along with the … Continue reading