Full conference proceedings

All contributed and RA-L papers can be found on   IEEE Explore

MAX, a Passive Microfluidic Control Valve, Toward Untethered Cyclic Combustion in Soft Robots

Author(s): Keng-Yu Lin, Natalie King, Michael Wehner*
Keywords: Soft Robot Applications; Micro/Nano Robots; Soft Robot Materials and Design
Paper number: 10
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo1S.4

Hybrid Soft Electrostatic Metamaterial Gripper for Multi-Surface, Multi-Object Adaptation

Author(s): Ryo Kanno, Huy Nguyen Pham*, Joshua Pinskier, David Howard, Sukho Song, Mirko Kovac
Keywords: Soft Robot Applications; Soft Robot Materials and Design; Grasping
Paper number: 101
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo2S.4

Bilayered Biofabrication Unlocks the Potential of Skeletal Muscle for Biohybrid Soft Robots

Author(s): Aiste Balciunaite*, Oncay Yasa, Miriam Filippi, Mike Yan Michelis, Robert Kevin Katzschmann
Keywords: Cellular and Modular Robots; Biologically-Inspired Robots; Biomimetics
Paper number: 102
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: MoBT1.2

A Friction Compensation Strategy for an Upper Limb Exosuit

Author(s): Emanuele Bianchi*, Elena Bardi, Marta Gandolla, Emilia Ambrosini, Loris Roveda, Francesco Braghin
Keywords: Wearable Robots; Tendon/Wire Mechanism; Modeling, Control, and Learning for Soft Robots
Paper number: 104
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo2S.6

Dielectrophoretic Elastomer Actuators for Soft Pneumatic Pumps

Author(s): Ciqun Xu, Charl Faul, Majid Taghavi, Jonathan Rossiter*
Keywords: Soft Robot Materials and Design; Soft Sensors and Actuators; Soft Robot Applications
Paper number: 105
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo2S.7

Down the Rabbit Hole: Exploiting Airflow Interactions for Morphologically Intelligent Retracting Vacuum Grippers

Author(s): Loong Yi Lee, Silvia Terrile, AJMAL ROSHAN, Tianqi Yue, Jonathan Rossiter*
Keywords: Soft Robot Materials and Design; Grasping; Soft Robot Applications
Paper number: 106
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo2S.8

Controllable Wound Closure in Artificial Skins Using Dual-Layer Bioinspired Mechanism

Author(s): David Hardman*, Fumiya Iida
Keywords: Soft Robot Materials and Design; Soft Robot Applications; Biologically-Inspired Robots
Paper number: 107
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo2S.9

Programmable Switching of Fluids Via Pre-Twisting

Author(s): Yijia Wu, Markus Nemitz*
Keywords: Soft Robot Materials and Design; Soft Sensors and Actuators
Paper number: 108
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo2S.10

Crawling Gait Design for a Caterpillar-Inspired Robot with Tendon-Driven Flexible Bending Segments

Author(s): Hanlin Shi, William Scott*
Keywords: Biologically-Inspired Robots; Legged Robots; Tendon/Wire Mechanism
Paper number: 109
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo1S.15

PhloSAR: A Portable, High-Flow Pressure Supply and Regulator Enabling Untethered Operation of Large Pneumatic Soft Robots

Author(s): Maxwell Ahlquist, Rianna Jitosho*, Jiawen Bao, Allison M. Okamura
Keywords: Soft Sensors and Actuators; Soft Robot Applications
Paper number: 11
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo1S.5

Multi-Touch Recognition of Hydrogel-Based E-Skins Using Real-World EIT Datasets

Author(s): Lorcan Nicholls, David Hardman*, Fumiya Iida
Keywords: Soft Sensors and Actuators; Soft Robot Materials and Design; Force and Tactile Sensing
Paper number: 110
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo1S.16

Path Planning for Continuum Rods Using Bernstein Surfaces

Author(s): Maxwell Hammond*, Venanzio Cichella, Amirreza Fahim Golestaneh, Caterina Lamuta
Keywords: Optimization and Optimal Control; Modeling, Control, and Learning for Soft Robots
Paper number: 113
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo1S.17

Exploring the Deep Sea: Combining a Bistable Mechanism with Origami-Inspired Soft Actuators

Author(s): Cora Maria Sourkounis*, Ditzia Susana García Morales, Tom Kwasnitschka, Annika Raatz
Keywords: Soft Robot Applications; Soft Robot Materials and Design; Hydraulic/Pneumatic Actuators
Paper number: 114
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo1S.18

Softness Prediction with a Soft Biomimetic Optical Tactile Sensor

Author(s): Saekwang Nam, Tobias Jack, Loong Yi Lee, Nathan Lepora*
Keywords: Grippers and Other End-Effectors; Force and Tactile Sensing; Deep Learning in Robotics and Automation
Paper number: 116
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo1S.19

A Reinforced Light-Responsive Hydrogel for Soft Robotics Actuation

Author(s): Emilia Zari*, Davide Grillo, Zhengchu Tan, Natalia Swiatek, Joshua Linfoot, Korn Borvorntanajanya, Luciana Nasca, Elena Pierro, Larisa Florea, Daniele Dini, Ferdinando Rodriguez y Baena
Keywords: Soft Robot Materials and Design; Grippers and Other End-Effectors
Paper number: 117
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: MoBPP.2

Soft Sensorised Ventriculoscopy Testbed for Robot Design and Surgical Feedback

Author(s): Kieran Gilday*, Irena Zubak, Andreas Raabe, Josie Hughes
Keywords: Medical Robots and Systems; Surgical Robotics: Steerable Catheters/Needles; Soft Sensors and Actuators
Paper number: 118
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo1S.20

Maximizing Consistent High-Force Output for Shape Memory Alloy Artificial Muscles in Soft Robots

Author(s): Meredith Anderson*, Ran Jing, Juan Pacheco Garcia, Ilyoung Yang, Sarah Alizadeh-Shabdiz, Charles DeLorey, Andrew Sabelhaus
Keywords: Soft Robot Materials and Design; Soft Sensors and Actuators; Modeling, Control, and Learning for Soft Robots
Paper number: 119
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: MoAT1.1

PneuDrive: An Embedded Pressure Control System and Modeling Toolkit for Large-Scale Soft Robots

Author(s): Curtis C Johnson*, Daniel G. Cheney, Dallin L Cordon, Marc Killpack
Keywords: Soft Robot Applications; Hydraulic/Pneumatic Actuators; Modeling, Control, and Learning for Soft Robots
Paper number: 120
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: TuAT1.2

Single and Bi-layered 2-D Acoustic Soft Tactile Skin

Author(s): S. Vishnu Rajendran*, Simon Parsons, Amir Masoud Ghalamzan Esfahani
Keywords: Soft Sensors and Actuators; Force and Tactile Sensing
Paper number: 121
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo1S.21

Design of a Flexible Robot Arm for Safe Aerial Physical Interaction

Author(s): Julien Mellet*, Andrea Berra, Achilleas Santi Seisa, Viswa Narayanan Sankaranarayanan, Kashita Niranjan Gangoda Withana Gamage Udayanga, Miguel Angel Trujillo Soto, Guillermo Heredia, George Nikolakopoulos, Vincenzo Lippiello, Fabio Ruggiero
Keywords: Compliant Joint/Mechanism; Soft Robot Materials and Design; Additive Manufacturing
Paper number: 122
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: TuBT1.4

Embedded Optical Waveguide Sensors for Dynamic Behavior Monitoring in Twisted-Beam Structures

Author(s): Paul Bupe, Jr.*, Yuhao Jiang, Ji-Tzuoh Lin, Tram Nguyen, Michael Seokyoung Han, Daniel Aukes, Cindy Harnett
Keywords: Soft Sensors and Actuators; Compliant Joint/Mechanism; Soft Robot Materials and Design
Paper number: 123
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo1S.22

Modular and Reconfigurable Body Mounted Soft Robots

Author(s): Tuo Liu, Taqi Abrar, Jonathan Realmuto*
Keywords: Soft Robot Materials and Design; Wearable Robots; Prosthetics and Exoskeletons
Paper number: 124
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo1S.23

Safe Control for Soft-Rigid Robots with Self-Contact Using Control Barrier Functions

Author(s): Zachary Patterson*, Wei Xiao, Emily Sologuren, Daniela Rus
Keywords: Modeling, Control, and Learning for Soft Robots; Optimization and Optimal Control
Paper number: 125
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo1S.24

Nonlinear Modes As a Tool for Comparing the Mathematical Structure of Dynamic Models of Soft Robots

Author(s): Pietro Pustina*, Davide Calzolari, Alin Albu-Schäffer, Alessandro De Luca, Cosimo Della Santina
Keywords: Modeling, Control, and Learning for Soft Robots; Optimization and Optimal Control; Underactuated Robots
Paper number: 129
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: TuAT1.1

A Lightweight Modular Segment Design for Tendon-Driven Continuum Robots with Pre-Programmable Stiffness

Author(s): Puspita Triana Dewi*, Priyanka Rao, Jessica Burgner-Kahrs
Keywords: Soft Robot Materials and Design; Soft Robot Applications; Biologically-Inspired Robots
Paper number: 130
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: MoBT1.3

Miniaturised Soft Manipulators with Reinforced Actuation Chambers on the Sub-Centimetre Scale

Author(s): Jialei Shi*,Sara Adela Abad Guaman,Arianna Menciassi,Kaspar Althoefer,Helge Arne Wurdemann
Keywords: Soft Robot Materials and Design; Hydraulic/Pneumatic Actuators; Soft Robot Applications
Paper number: 131
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo1S.25

A Bio-Inspired Robotic Finger Driven and Shape-Sensed by Soft Optical Tendons

Author(s): Michael Seokyoung Han*,Ji-Tzuoh Lin,Cindy Harnett
Keywords: Biologically-Inspired Robots; Modeling, Control, and Learning for Soft Robots; Soft Sensors and Actuators
Paper number: 132
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo1S.26

Mathematical Model and Design Exploration of Soft Comfortable, Effective Anchoring for Wearable Assistive Technologies

Author(s): Worayut Aksornukul, Richard Suphapol Diteesawat*, Nahian Rahman, Jonathan Rossiter
Keywords: Prosthetics and Exoskeletons; Wearable Robots; Hydraulic/Pneumatic Actuators
Paper number: 133
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo1S.27

FDM Printing: A Fabrication Method for Fluidic Soft Circuits?

Author(s): Savita Vitthalrao Kendre, Lehong Wang, Ethan Wilke, Nicholas Pacheco, Loris Fichera, Markus Nemitz*
Keywords: Soft Robot Materials and Design; Additive Manufacturing; Education Robotics
Paper number: 134
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo1S.28

Guiding Soft Robots with Motor-Imagery Brain Signals and Impedance Control

Author(s): Maximilian Stölzle*, Sonal Santosh Baberwal, Daniela Rus, Shirley Coyle, Cosimo Della Santina
Keywords: Soft Robot Applications; Modeling, Control, and Learning for Soft Robots; Telerobotics and Teleoperation
Paper number: 135
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: MoBPP.3

Replicating Human Anatomy with Vision Controlled Jetting – a Pneumatic Musculoskeletal Hand and Forearm

Author(s): Thomas Jakob Konrad Buchner*, Stefan Weirich, Alexander M. Kübler, Wojciech Matusik, Robert Kevin Katzschmann
Keywords: Multifingered Hands; Soft Robot Applications; Tendon/Wire Mechanism
Paper number: 137
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo1S.29

SMoLBot-VS: A Soft Modular Robot Capable of Modulating Backbone Stiffness

Author(s): Muhammed Uygun, Onur Ozcan*
Keywords: Compliant Joint/Mechanism; Tendon/Wire Mechanism; Legged Robots
Paper number: 14
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo1S.6

Toward Long-Lasting Large-Scale Soft Robots: The Durability Challenge in Architectured Materials

Author(s): Francesco Stella*, Guanran Pei, Omar Meebed, Qinghua Guan, Zhenshan Bing, Cosimo Della Santina, Josie Hughes
Keywords: Soft Robot Materials and Design; Additive Manufacturing; Soft Robot Applications
Paper number: 140
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo1S.30

Control of Silicone-Sheathed Electrostatic Clutches for Soft Pneumatic Actuator Position Control

Author(s): Gregory Campbell*, Richard Daelan Roosa, Kevin Turner, James Pikul, Mark Yim
Keywords: Soft Robot Materials and Design; Hydraulic/Pneumatic Actuators; Force Control
Paper number: 142
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo2S.1

Non-Contact Manipulation of Objects in Fluid with Soft Robots through Behavioral Primitives and Finite State Machine

Author(s): Arnaud KLIPFEL, Nana Obayashi*, Josie Hughes
Keywords: Modeling, Control, and Learning for Soft Robots; Biologically-Inspired Robots; Underactuated Robots
Paper number: 143
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo2S.2

Multi-Modal Perception for Soft Robotic Interactions Using Generative Models

Author(s): Enrico Donato*, Egidio Falotico, Thomas George Thuruthel
Keywords: Modeling, Control, and Learning for Soft Robots; Sensor Fusion; Deep Learning in Robotics and Automation
Paper number: 144
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo2S.3

Bio-Inspired Robotic Swallowing Simulator

Author(s): James Ziadeh, Kai Junge, Josie Hughes*
Keywords: Biologically-Inspired Robots; Soft Robot Materials and Design; Soft Robot Applications
Paper number: 145
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo2S.4

Morphological and Material Programability of a Hall-Effect Based Soft Tactile Sensors

Author(s): Sudong Lee*,Josie Hughes
Keywords: Soft Sensors and Actuators; Force and Tactile Sensing
Paper number: 146
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo2S.5

Design and Control Co-Optimization for Automated Design Iteration of Dexterous Anthropomorphic Soft Robotic Hands

Author(s): Pragna Mannam*, Xingyu Liu, DING ZHAO, Jean Oh, Nancy S Pollard
Keywords: Multifingered Hands; Grasping; Soft Robot Materials and Design
Paper number: 147
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo2S.6

Enhancing the Performance of Pneu-Net Actuators Using a Torsion Resistant Strain Limiting Layer

Author(s): Ian Good, Srivatsan Balaji, Jeffrey Lipton*
Keywords: Grippers and Other End-Effectors; Soft Robot Materials and Design; Compliant Joint/Mechanism
Paper number: 148
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: MoAT1.4

Bundling and Tumbling in Bacterial-Inspired Bi-Flagellated Soft Robots for Attitude Adjustment

Author(s): Zhuonan Hao, Siddharth Zalavadia, Mohammad Khalid Jawed*
Keywords: Soft Robot Applications; Simulation and Animation; Soft Robot Materials and Design
Paper number: 149
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo2S.7

Compliant Electropermanent Magnets

Author(s): William Johnson*, Rebecca Kramer-Bottiglio
Keywords: Soft Robot Materials and Design; Soft Robot Applications
Paper number: 150
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo2S.8

Task-Defined Pulley Design for Nonlinearly Coupled Tendon-Driven Actuation

Author(s): Barnabas Gavin Cangan*, Wensi Zhang, Thomas Jakob Konrad Buchner, Alexander M. Kübler, Ramon Asmus, Robert Kevin Katzschmann
Keywords: Tendon/Wire Mechanism; Underactuated Robots; Computational Geometry
Paper number: 152
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: MoAT1.2

Mitigating Stochasticity in Visual Servoing of Soft Robots Using Data-Driven Generative Models

Author(s): Gojko Perovic*, Francesco Piqué, Gabriele Di Nasso, Egidio Falotico
Keywords: Modeling, Control, and Learning for Soft Robots; Visual Servoing
Paper number: 153
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo2S.9

Multimodal Soft Robotic Actuator Modeling and Validation

Author(s): Sanjaya Mallikarachchi*, Palpolage Don Shehan Hiroshan Gunawardane, Xuan Tung Le, Mu Chiao, Isuru S. Godage
Keywords: Modeling, Control, and Learning for Soft Robots; Soft Robot Materials and Design; Soft Robot Applications
Paper number: 154
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo2S.10

Directional Stiffness-Switching Soft Robots via Phase-Changing Metallic Spines

Author(s): Daniel Esser*, Emily McCabe, Tayfun Efe Ertop, Alan Kuntz, Robert James Webster III
Keywords: Soft Robot Materials and Design; Biologically-Inspired Robots; Tendon/Wire Mechanism
Paper number: 155
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo2S.11

On Feedback Error Learning for Adaptive Soft Robot Control

Author(s): Niccolò Enrico Veronese, Alessandro Albini*, Perla Maiolino, Fulvio Forni
Keywords: Learning and Adaptive Systems; Modeling, Control, and Learning for Soft Robots
Paper number: 156
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: TuAT1.3

Vision-Based FDM Printing for Fabricating Airtight Soft Actuators

Author(s): Yijia Wu, Zilin Dai, Haotian Liu, Lehong Wang, Markus Nemitz*
Keywords: Soft Robot Materials and Design; Additive Manufacturing; Computer Vision for Other Robotic Applications
Paper number: 157
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: MoAT1.6

Performance Enhancement of a Morphing Limb for an Amphibious Robotic Turtle

Author(s): Jiefeng Sun*, Brandon Lin, Luis Adrian Ramirez, Esteban Figueroa, Robert Lawrence Baines, Bilige Yang, Erick Marroquin, Rebecca Kramer-Bottiglio
Keywords: Soft Robot Materials and Design; Soft Robot Applications; Legged Robots
Paper number: 158
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo2S.12

Robustness in Diversity: Quality-Diversity Driven Discovery of Agile Soft Robotic Gaits

Author(s): John Rieffel*, Phoenix Mulgrew, Daniel Tyebkhan, Bao Vo, Ali Ahmed Khan Khan, Andrew James, John Daly, Daniel Casper, Muhammad Farooq Memon
Keywords: Simulation and Animation; Optimization and Optimal Control; Modeling, Control, and Learning for Soft Robots
Paper number: 160
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo2S.13

An Approach for 3D Microprinting Soft Robotic Surgical Tools at 1.5 French Length Scales for Endovascular Interventions

Author(s): Bailey Felix, Olivia Young, Jordi Andreou, Nicholas Portwood, Kieran Barvenik, Noah Barnes, Clifford R. Weiss, Christopher Bailey, Dheeraj Gandhi, Miroslaw Janowski, Jeremy DeLaine Brown, Eleonora Tubaldi, Mark Fuge, Axel Krieger, Ryan Sochol*
Keywords: Additive Manufacturing; Micro/Nano Robots; Surgical Robotics: Steerable Catheters/Needles
Paper number: 162
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo2S.14

Real-Time Grocery Packing by Integrating Vision, Tactile Sensing, and Soft Fingers

Author(s): Valerie Chen, Lillian Chin, Jeana Choi, Annan Zhang*, Daniela Rus
Keywords: Soft Robot Applications; Grasping; Soft Sensors and Actuators
Paper number: 163
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo2S.15

JAMJams: Jagged Anisotropic Mechanically Jamming Appendages for Robot Locomotion

Author(s): Ignatius Widjaja*, Nick Gravish
Keywords: Compliant Joint/Mechanism; Additive Manufacturing; Legged Robots
Paper number: 164
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo1S.13

Soft Growing Pin for High-Extension Shape-Changing Displays

Author(s): Antonio Alvarez Valdivia*, Mohammad Rezqalla, Sarah Swann, Laura Blumenschein
Keywords: Soft Robot Applications; Haptics and Haptic Interfaces; Soft Sensors and Actuators
Paper number: 166
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo1S.14

HASEL Actuator Design for Out-Of-Plane Bending: A Parametric Study of Planar Geometry

Author(s): Zachary Brei*, Chae Woo Lim, Anneliese Ferguson, Anvay Pradhan, Varshni V. Sangeetha, Xiangyun Bu, Brent Usui, Daniel B. Johnson, Ram Vasudevan, Talia Moore
Keywords: Soft Sensors and Actuators; Soft Robot Materials and Design; Soft Robot Applications
Paper number: 167
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo1S.15

Modeling of a Thick Cylindrical Pneumatic Leg for a Soft Parallel Robot

Author(s): Zeinab Awada*, Hamza El Jjouaui, Marc Gouttefarde, Yassine Haddab
Keywords: Modeling, Control, and Learning for Soft Robots; Soft Robot Materials and Design; Soft Sensors and Actuators
Paper number: 169
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo1S.16

Nonlinear Coordinate Transformation and Trajectory Tracking Control of an Underactuated Soft Robot Driven by Dielectric Elastomers

Author(s): Giovanni Soleti*, Paolo Roberto Massenio, Julian Kunze, Gianluca Rizzello
Keywords: Modeling, Control, and Learning for Soft Robots; Underactuated Robots; Soft Sensors and Actuators
Paper number: 17
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: MoAT1.3

A Soft Robotic Wrist Orthosis Using Textile Pneumatic Actuation for Passive Rehabilitation

Author(s): Anoush Sepehri, Samuel Ward, Michael T. Tolley, Tania K. Morimoto*
Keywords: Wearable Robots; Rehabilitation Robotics; Soft Robot Applications
Paper number: 170
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: MoBPP.4

Learning Contact Forces in Human-Wearable-Robot Interaction Using Morphological Computation

Author(s): Umme Kawsar Alam, Mahdi Haghshenas-Jaryani*
Keywords: Modeling, Control, and Learning for Soft Robots; Physical Human-Robot Interaction; Prosthetics and Exoskeletons
Paper number: 171
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo1S.17

Rapid Action Evaluation and Optimization through Mutual Information Using a Multi-Modal Soft Tactile Sensor

Author(s): Kai Junge*, Germain Meyer, Emily Sologuren, Kieran Gilday, Josie Hughes
Keywords: Sensor-based Control; Soft Sensors and Actuators; Learning and Adaptive Systems
Paper number: 172
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo1S.18

Paint-A-Pouch: Mask-Based Fabrication of Pouch Actuators for Pneumatically Actuated Soft Robots

Author(s): Shuhang Zhang, Jordan Banh, Nick Gravish*
Keywords: Additive Manufacturing; Soft Robot Applications; Soft Robot Materials and Design
Paper number: 173
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo1S.19

Fin-QD: A Computational Design Framework for Soft Grippers: Integrating MAP-Elites and High-Fidelity FEM

Author(s): Yue xie*, Xing Wang, Fumiya Iida, David Howard
Keywords: Soft Robot Materials and Design; Simulation and Animation; Grippers and Other End-Effectors
Paper number: 175
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo1S.20

Soft Robotics for Space Applications: Towards a Family of Locomotion Platforms

Author(s): William Foster-Hall*, David J. Harvey, Rini Akmeliawati
Keywords: Soft Robot Applications; Soft Robot Materials and Design; Biologically-Inspired Robots
Paper number: 176
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo1S.21

Towards Bespoke Soft Grippers through Voxel-Scale Metamaterial Topology Optimisation

Author(s): Joshua Pinskier*, James Brett, David Howard
Keywords: Soft Robot Materials and Design; Compliant Joint/Mechanism; Grasping
Paper number: 179
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: MoBPP.5

Model Predictive Wave Disturbance Rejection for Underwater Soft Robotic Manipulators

Author(s): Kyle Liam Walker, Cosimo Della Santina, Francesco Giorgio-Serchi*
Keywords: Soft Robot Applications; Modeling, Control, and Learning for Soft Robots
Paper number: 18
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo1S.7

Scalable Arrays of Pneumatic Sensors for Multitouch Soft Skins

Author(s): Xiaoran Zha*,Saurabh Jadhav,Iman Adibnazari,Yichen Zhai,Michael T. Tolley
Keywords: Soft Sensors and Actuators; Force and Tactile Sensing; Modeling, Control, and Learning for Soft Robots
Paper number: 180
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: WeAT1.4

Cosserat Rod Modeling and Validation for a Soft Continuum Robot with Self-Controllable Variable Curvature

Author(s): Xinran Wang*, Nicolas Rojas
Keywords: Modeling, Control, and Learning for Soft Robots; Soft Robot Applications; Soft Robot Materials and Design
Paper number: 181
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo1S.22

Combining Thermoelectrics and Low Melting Point Alloys to Create Reconfigurable Rigid-Compliant Manipulators

Author(s): Emily McCabe*, Daniel Esser, Tayfun Efe Ertop, Alan Kuntz, Robert James Webster III
Keywords: Soft Robot Materials and Design; Compliant Joint/Mechanism; Tendon/Wire Mechanism
Paper number: 182
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo1S.23

Physics-Informed Neural Network for Scalable Soft Multi-Actuator Systems

Author(s): Carly Mendenhall*, Jonathan Hardan, Trysta Chiang, Laura Blumenschein, Adrian Buganza Tepole
Keywords: Modeling, Control, and Learning for Soft Robots; Soft Sensors and Actuators
Paper number: 183
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo1S.24

Pressure Control of Rolling-Seal Tape Spring Actuators

Author(s): Curtis Sparks, Nick Gravish*
Keywords: Soft Sensors and Actuators; Soft Robot Materials and Design
Paper number: 184
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo1S.25

Machine Learning Assisted Locomotion Tracking of Dielectric Elastomer Actuators Based Soft Water Robot

Author(s): Md Asaduzzaman Jabin, Berek Ha, Mable Fok*
Keywords: Deep Learning in Robotics and Automation; Soft Robot Applications; Soft Robot Materials and Design
Paper number: 185
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo2S.11

Merging Variable Stiffness Fiber Patterns on Multi-Shape Robotic Sheets

Author(s): Medha Goyal*, Maggy Lambo, Josh Bongard, Rebecca Kramer-Bottiglio
Keywords: Simulation and Animation; Computational Geometry; Soft Robot Materials and Design
Paper number: 186
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo2S.12

Model Evolutionary Gain-Based Predictive Control (MEGa-PC) for Soft Robotics

Author(s): Spencer Jensen, John Salmon, Marc Killpack*
Keywords: Modeling, Control, and Learning for Soft Robots; Optimization and Optimal Control; Compliant Joint/Mechanism
Paper number: 187
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: TuAT1.6

Path Planning for Continuum Arms in Dynamic Environments

Author(s): Brandon Meng*, Dimuthu Dharshana Kodippili Arachchige, Isuru S. Godage, Iyad Kanj
Keywords: Manipulation Planning; Simulation and Animation; Soft Robot Applications
Paper number: 188
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo2S.13

Optimal Control for a Shape Memory Alloy Actuated Soft Digit Using Iterative Learning Control

Author(s): Richard Desatnik*, Mikhail Khrenov, Zachary Manchester, Philip LeDuc, Carmel Majidi
Keywords: Modeling, Control, and Learning for Soft Robots; Soft Robot Applications; Optimization and Optimal Control
Paper number: 19
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo1S.8

Bistable Spring Steel Grippers for Passive Grasping

Author(s): Bryce Jones*, Mahmud Hasan Saikot, Jianguo Zhao
Keywords: Grippers and Other End-Effectors; Soft Robot Applications
Paper number: 191
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo2S.14

Stretchable Pneumatic Sleeve for Adaptable, Low-Displacement Anchoring in Exosuits

Author(s): Katalin Schäffer*, Ultan Fallon, Margaret M. Coad
Keywords: Wearable Robots; Soft Sensors and Actuators; Medical Robots and Systems
Paper number: 192
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo2S.15

Refined Modeling for Serial Pneumatic Artificial Muscles Enables Model-Based Actuation Design

Author(s): Sicheng Wang*, Laura Blumenschein
Keywords: Modeling, Control, and Learning for Soft Robots; Soft Sensors and Actuators
Paper number: 193
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: TuAT1.4

Directing Anisotropic Friction and Compliant Structures towards In-Pipe Locomotion & Navigation

Author(s): Minghao Liu, Loong Yi Lee, Andrew Conn, Jonathan Rossiter*
Keywords: Soft Robot Applications; Soft Robot Materials and Design; Compliant Joint/Mechanism
Paper number: 196
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo2S.16

Online Optimization of Soft Manipulator Mechanics Via Hierarchical Control

Author(s): Shivangi Misra*, Cynthia Sung
Keywords: Modeling, Control, and Learning for Soft Robots
Paper number: 197
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo2S.17

Reinforcement Learning Controllers for Soft Robots Using Learned Environments

Author(s): Uljad Berdica*, Matthew Jackson, Jakob Foerster, Perla Maiolino
Keywords: Modeling, Control, and Learning for Soft Robots; Underactuated Robots; Optimization and Optimal Control
Paper number: 198
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo2S.18

Flexible Wearable Joint Motion Sensor Based on Multi-Wire Displacement

Author(s): Youngjoon Baek, Yong-Lae Park*
Keywords: Soft Sensors and Actuators; Tendon/Wire Mechanism; Medical Robots and Systems
Paper number: 199
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo2S.19

AI-infused soft fluidic tactile sensing

Author(s): Arman Goshtasbi, Saravana Prashanth Murali Babu, Rita Moura da Silva Moreira, Masoud Jamshidiyan Tehrani, Rebecca Hyldgaard, Maria Nikoline Elisabeth Rasmussen, Ahmad Rafsanjani*
Keywords: Soft Sensors and Actuators; Force and Tactile Sensing; Modeling, Control, and Learning for Soft Robots
Paper number: 200
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: WeAT1.5

Exploration of Fin Stiffness for Asymmetric Thrust in a Swimming Robot

Author(s): Michael Ishida*, Arsen Abdulali, Narges Hosseini, Fumiya Iida
Keywords: Biologically-Inspired Robots; Soft Robot Materials and Design; Soft Robot Applications
Paper number: 201
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo2S.20

Cable-Integrated Single-Axis Load Cell for Tendon-Driven Robotic Actuation Enabled by Thin-Film Soft Sensor

Author(s): Jiyeon Cho, Taejun Park, Simon Kim, Yong-Lae Park*
Keywords: Soft Sensors and Actuators; Force and Tactile Sensing; Tendon/Wire Mechanism
Paper number: 202
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo2S.21

MoLDy: Open-Source Library for Data-Based Modeling and Nonlinear Model Predictive Control of Soft Robots

Author(s): Daniel G. Cheney*, Marc Killpack
Keywords: Modeling, Control, and Learning for Soft Robots; Software, Middleware and Programming Environments; Optimization and Optimal Control
Paper number: 203
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo2S.22

Toward “S”-Shaped 3D-Printed Soft Robotic Guidewires for Pediatric Patent Ductus Arteriosus Endovascular Interventions

Author(s): Adira Colton,Declan Fitzgerald,Sunandita Sarker,Noah Barnes,Dheeraj Gandhi,Miroslaw Janowski,Jeremy DeLaine Brown,Joshua Kanter,Laura Olivieri,Mark Fuge,Axel Krieger,Ryan Sochol*
Keywords: Additive Manufacturing; Surgical Robotics: Steerable Catheters/Needles; Micro/Nano Robots
Paper number: 204
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo2S.23

Lost-Core Injection Molding of Fluidic Elastomer Actuators for the Fabrication of a Modular Eel-Inspired Soft Robot

Author(s): Jacobo Cervera Torralba*,Michael T. Tolley,Iman Adibnazari,Yuxiang Kang,Eesa Khan
Keywords: Soft Robot Materials and Design; Biomimetics; Soft Robot Applications
Paper number: 205
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo2S.24

Shape Reconstruction of a Soft Actuator Based on Bezier Curves Using Soft Strain Sensors

Author(s): Milad Hayati, Milad, Melih Turkseven*
Keywords: Soft Sensors and Actuators; Modeling, Control, and Learning for Soft Robots; Soft Robot Materials and Design
Paper number: 206
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo2S.25

Scalable, Simulation-Guided Compliant Tactile Finger Design

Author(s): Yuxiang Ma*, Arpit Agarwal, Sandra Q. Liu, Wenzhen Yuan, Edward Adelson
Keywords: Soft Sensors and Actuators; Simulation and Animation; Grippers and Other End-Effectors
Paper number: 207
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: WeAT1.1

Soft Robotic Actuator Leveraging Switchable Strain-Limiting Structures for Tumor Biopsy and Ablation in MRI

Author(s): Jan Peters*, Johann Licher, Bennet Hensen, Frank K. Wacker, Annika Raatz
Keywords: Hydraulic/Pneumatic Actuators; Medical Robots and Systems; Soft Robot Applications
Paper number: 208
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo2S.26

Inflatable Robotics Arm Capable of Deploying and Retracting by Rolling for High-Packaging Ratio

Author(s): Changhwan Kim*,Dongwook Shin,Inryeol Back,Dongjin Kim,Damin Choi,Seungyong Han,Daeshik Kang,Je-Sung Koh
Keywords: Soft Robot Materials and Design; Hydraulic/Pneumatic Actuators; Grippers and Other End-Effectors
Paper number: 211
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo2S.27

Design and Characterization of a Pneumatic Tunable-Stiffness Bellows Actuator

Author(s): Rongqian Chen*, Jun Kwon, Wei-Hsi Chen, Cynthia Sung
Keywords: Modeling, Control, and Learning for Soft Robots; Hydraulic/Pneumatic Actuators; Soft Sensors and Actuators
Paper number: 215
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo2S.28

Origami-Inspired Bistable Gripper with Self-Sensing Capabilities

Author(s): Christopher Yoon Jae Kim*, Lele Yang, Ashwath Anbuchelvan, Raghav Garg, Niv Milbar, Flavia Vitale, Cynthia Sung
Keywords: Grippers and Other End-Effectors; Compliant Joint/Mechanism; Soft Sensors and Actuators
Paper number: 216
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: WeAT1.2

Bioinspired Self-Stiffening Wing for Multimodal Locomotion

Author(s): Salvador Rojas Salvador Rojas*, Dimitrios Michalaros
Keywords: Biologically-Inspired Robots
Paper number: 217
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo2S.29

A Large Area Soft Robotic Haptic Display

Author(s): Luuk van Laake*,Max Alberts,Femke van Beek,Irene Kuling
Keywords: Haptics and Haptic Interfaces; Soft Robot Applications; Soft Robot Materials and Design
Paper number: 218
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo1S.26

Design and Characterisation of Salt-E-Skin: Soft Saline-Filled Large-Scale Tactile E-Skin

Author(s): Miranda Lowther*, Antonia Tzemanaki, Helmut Hauser
Keywords: Soft Sensors and Actuators; Force and Tactile Sensing; Prosthetics and Exoskeletons
Paper number: 219
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo1S.27

A Compliant, Force-Controlled Active Tail for Miniature Robots

Author(s): Haider Raheem, Onur Ozcan*, Mustafa Ugur, Doga Ozbek
Keywords: Biologically-Inspired Robots; Soft Robot Materials and Design; Soft Sensors and Actuators
Paper number: 22
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo1S.9

Toqro: A Flexible Quadruped Walking Robot With Topology Optimized Soft Legs

Author(s): Yilun Sun*, Zaiyu Wang, Felix Pancheri, Tim C. Lueth
Keywords: Soft Robot Applications; Legged Robots; Compliant Joint/Mechanism
Paper number: 23
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo1S.10

Deployable Cuboctahedrons for Adaptive Space Infrastructure

Author(s): Stephanie Woodman*, Alex Moore, Siona Tagare, Kenneth C. Cheung, Rebecca Kramer-Bottiglio
Keywords: Soft Robot Applications; Soft Robot Materials and Design; Cellular and Modular Robots
Paper number: 28
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo1S.12

Learning Control Strategy in Soft Robotics through a Set of Configuration Spaces

Author(s): Etienne Ménager*, Christian Duriez
Keywords: Modeling, Control, and Learning for Soft Robots; Soft Robot Applications
Paper number: 29
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: MoBPP.1

Exploiting Frictional Effects to Reproduce Octopus-Like Reaching Movements with a Cable-Driven Spiral Robot

Author(s): Zhanchi Wang, Nikolaos Freris*
Keywords: Biologically-Inspired Robots; Tendon/Wire Mechanism; Modeling, Control, and Learning for Soft Robots
Paper number: 30
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: MoBT1.4

A Modular Pneumatic Soft Gripper Design for Aerial Grasping and Landing

Author(s): Hiu Ching Cheung, Ching-Wei Chang, Bailun JIANG, Chih-yung Wen, Henry Chu*
Keywords: Soft Robot Applications; Grasping
Paper number: 36
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo1S.13

Bonding Rigid and Soft Materials Using Flocking

Author(s): Cathleen Arase*, Qifan Yu, Kaitlyn Becker
Keywords: Soft Robot Materials and Design; Soft Sensors and Actuators; Hydraulic/Pneumatic Actuators
Paper number: 37
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo1S.14

Design Optimization of a Soft Gripper Using Self-Contacts

Author(s): Tanguy Navez*, Baptiste Liévin, Quentin Peyron, Stefan Escaida Navarro, Olivier Goury, Christian Duriez
Keywords: Soft Robot Materials and Design; Grippers and Other End-Effectors; Software, Middleware and Programming Environments
Paper number: 38
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: TuBT1.5

Passive Aerial Righting and Safe Landing of a Small Bio-inspired Jumping Robot

Author(s): Baekgyeom Kim*, Victor Ortega-Jimenez, Seungyong Han, Daeshik Kang, Saad Bhamla, Je-Sung Koh
Keywords: Micro/Nano Robots; Biomimetics; Biologically-Inspired Robots
Paper number: 45
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo2S.20

Qualitative Analysis and Exploration of a Novel Mechanism: Twisted String and Spiral Hose Mechanism

Author(s): Zeyu Long*, Hidefumi Wakamatsu, Yoshiharu Iwata
Keywords: Grippers and Other End-Effectors; Soft Robot Materials and Design; Modeling, Control, and Learning for Soft Robots
Paper number: 47
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo2S.21

State Estimation of a Soft Robotic Finger with Dynamic Effect of Parameter Uncertainty

Author(s): Sumitaka Honji*, Hikaru Arita, Kenji Tahara
Keywords: Modeling, Control, and Learning for Soft Robots; Tendon/Wire Mechanism; Grippers and Other End-Effectors
Paper number: 49
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo2S.22

Designing Fluid-Exuding Cartilage for Biomimetic Robots Mimicking Human Joint Lubrication Function

Author(s): Akihiro Miki*, Yuta Sahara, Kazuhiro Miyama, Yoshimoto Ribayashi, Kento Kawaharazuka, Shun Hasegawa, Kei Okada, Masayuki Inaba
Keywords: Biologically-Inspired Robots; Biomimetics; Soft Robot Materials and Design
Paper number: 54
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo2S.23

Smart Grow-And-Twine Gripper for Vegetable Harvesting in Vertical Farms

Author(s): Jiajun Liu*, Wenjie Lai, Bing Rui Sim, Ming Rui Joel Tan, Shlomo Magdassi, Louis Phee
Keywords: Grippers and Other End-Effectors; Grasping; Tendon/Wire Mechanism
Paper number: 55
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo2S.24

Transient Motions and Static Poses in Soft, Viscous-Driven Actuators

Author(s): Rafael Gottlieb, Atilla Daniel Ramazan Osan, Mattieu Zhai, Yoav Matia, Kirstin Hagelskjaer Petersen*
Keywords: Soft Robot Materials and Design; Soft Sensors and Actuators; Grippers and Other End-Effectors
Paper number: 56
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo2S.25

Condensed Semi-Implicit Dynamics for Trajectory Optimization in Soft Robotics

Author(s): Etienne Ménager*, Alexandre Bilger, Wilson Jallet, Justin Carpentier, Christian Duriez
Keywords: Optimization and Optimal Control; Modeling, Control, and Learning for Soft Robots; Soft Robot Applications
Paper number: 57
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: TuAT1.5

Compliant Robotic Arm based on a Tensegrity Structure with x-shaped Members

Author(s): David Herrmann*, Leon Schaeffer, Wolfgang Körber, Lukas Schmitt, Lukas Merker, Lena Zentner, Valter Boehm
Keywords: Tendon/Wire Mechanism; Soft Robot Materials and Design; Underactuated Robots
Paper number: 61
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: TuBT1.3

Modular Bending Actuators Based on Self-X Properties of the CN-Hydrogel

Author(s): Jesús de la Morena, Antonio López-Díaz, Francisco Ramos, Ismael Payo, Andres S. Vazquez*
Keywords: Soft Sensors and Actuators; Soft Robot Applications; Soft Robot Materials and Design
Paper number: 62
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: MoAT1.5

Material and Structural Improvement in Electro-Ribbon Actuators towards Biomimetic Stacked Architecture

Author(s): Troy Baker, Majid Taghavi*
Keywords: Soft Robot Materials and Design; Biologically-Inspired Robots
Paper number: 63
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo2S.26

Design and Evaluation of a Lightweight Soft Electrical Apple Harvesting Gripper

Author(s): Chris Ninatanta*,Ryan S. Cole,Ian A. Wells,Ariel Ramos,Justin Pilgrim,Jacob Benedict,Ryan J. Taylor,Ryan Dorosh,Kyle Yoshida,Manoj Karkee,Ming Luo
Keywords: Grippers and Other End-Effectors; Soft Robot Materials and Design; Soft Robot Applications
Paper number: 64
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo2S.27

Soft Pneumatic Pads Enable New Sensing and Actuation Capabilities in Soft-Rigid Grippers

Author(s): Maria Pozzi*, Leonardo Franco, Muhammad Zubair Iqbal, Monica Malvezzi, Domenico Prattichizzo, Gionata Salvietti
Keywords: Grasping; Grippers and Other End-Effectors; Soft Robot Materials and Design
Paper number: 65
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo2S.28

A Study on Pressure Modulation for Biomimetic Fine Manipulation for Soft Robots

Author(s): Chapa Sirithunge*, Fumiya Iida, Xiaoping Zhang, Josie Hughes
Keywords: Force and Tactile Sensing; Biomimetics; Human Factors and Human-in-the-Loop
Paper number: 67
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: TuBT1.6

Optimal Bending Stiffness Design of a Soft Micro-Robot for Cochlear Implantation

Author(s): Alexandre Thuillier*, Sebastien Krut, Nabil Zemiti, Philippe Poignet
Keywords: Soft Robot Materials and Design; Medical Robots and Systems; Tendon/Wire Mechanism
Paper number: 69
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo2S.29

Interaction Behaviors of a Vine Robot in a Pipe T-Junction

Author(s): Lily Behnke*, Brian Do, Sophia Eristoff, Rebecca Kramer-Bottiglio
Keywords: Soft Robot Materials and Design; Soft Robot Applications; Biologically-Inspired Robots
Paper number: 70
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo2S.30

Underwater Salp-Inspired Soft Structure Contraction with Twisted Coiled Actuators

Author(s): Ali Jones*, Joseph Davidson
Keywords: Biomimetics; Soft Robot Materials and Design; Biologically-Inspired Robots
Paper number: 71
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo2S.31

Fluidic FlowBots: Intelligence Embodied in the Characteristics of Recirculating Fluid Flow

Author(s): Maks Gepner, Jonah Mack, Francesco Giorgio-Serchi, Adam Andrew Stokes*
Keywords: Soft Robot Materials and Design; Hydraulic/Pneumatic Actuators; Additive Manufacturing
Paper number: 72
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo2S.32

Liquid Crystal Elastomer and Fabric Bilayer Actuators

Author(s): Sophia Eristoff*,Lily Behnke,Lina Sanchez-Botero,Sree Kalyan Patiballa,Rebecca Kramer-Bottiglio
Keywords: Soft Sensors and Actuators; Soft Robot Materials and Design; Biomimetics
Paper number: 73
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo1S.1

Soft Gripping: Specifying for Trustworthiness

Author(s): Dhaminda Abeywickrama*, Nguyen Hao Le, Greg Chance, Peter Winter, Arianna Manzini, Alix James Partridge, Jonathan Ives, John Downer, Graham Deacon, Jonathan Rossiter, Kerstin Eder, Shane Windsor
Keywords: Grippers and Other End-Effectors
Paper number: 74
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo1S.2

Metamaterial Soft Snake Robot for Rectilinear Locomotion

Author(s): Aida Parvaresh, Burcu Seyidoğlu, Ahmad Rafsanjani*
Keywords: Biologically-Inspired Robots; Soft Robot Materials and Design; Soft Sensors and Actuators
Paper number: 77
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: MoBT1.1

Estimating Infinite-Dimensional Continuum Robot States from the Tip

Author(s): Tongjia Zheng*, Ciera McFarland, Margaret M. Coad, Hai Lin
Keywords: Modeling, Control, and Learning for Soft Robots
Paper number: 78
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo1S.3

Continual Policy Distillation of Reinforcement Learning-Based Controllers for Soft Robotic In-Hand Manipulation

Author(s): Lanpei Li*, Enrico Donato, Vincenzo Lomonaco, Egidio Falotico
Keywords: Modeling, Control, and Learning for Soft Robots; Learning and Adaptive Systems; Grasping
Paper number: 79
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: TuBT1.1

Position Control for a Soft Actuator with High Uncertainty and Hysteresis

Author(s): Phuc Bui*, Joshua Schultz
Keywords: Soft Sensors and Actuators; Soft Robot Applications; Modeling, Control, and Learning for Soft Robots
Paper number: 8
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: MoPo1S.3

Real-to-real motor learning of tendon-driven soft caterpillar locomotion with world model

Author(s): Koichi Tezuka*, Ryuma Niiyama
Keywords: Modeling, Control, and Learning for Soft Robots; Learning and Adaptive Systems; Tendon/Wire Mechanism
Paper number: 80
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo1S.4

Mechanically-Inflatable Bio-Inspired Locomotion for Robotic Pipeline Inspection

Author(s): Mostafa A. Atalla*, Sebastiaan Van Gelder, Fabian Trauzettel, Paul Breedveld, Michael Wiertlewski, Aimee Sakes
Keywords: Biologically-Inspired Robots; Soft Robot Materials and Design; Biomimetics
Paper number: 81
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo1S.5

Body Design and Gait Generation of Chair-Type Asymmetrical Tripedal Low-Rigidity Robot

Author(s): Shintaro Inoue*, Kento Kawaharazuka, Kei Okada, Masayuki Inaba
Keywords: Legged Robots; Sensor-based Control; Soft Robot Materials and Design
Paper number: 84
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo1S.6

Enriching Contact Information through Fiber Bragg Gratings-Based Exteroception in Soft Bending Actuators

Author(s): Niccolò Pagliarani*, Mariangela Filosa, Rana Muhammad Armaghan Ayaz, Claudio J. Oton, Calogero Maria Oddo, Matteo Cianchetti
Keywords: Soft Sensors and Actuators; Grasping; Grippers and Other End-Effectors
Paper number: 85
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: WeAT1.3

Nature's Embrace: Development and Validation of a Pneumatic Soft Robotic Flower for Calming Interactions

Author(s): Arturo Castillo Ugalde*, Sharmayne Lim, Carina Cecilia Carrasco Camara, Yixiao Wang, Pablo Valdivia y Alvarado
Keywords: Human-Centered Robotics; Biologically-Inspired Robots; Soft Robot Materials and Design
Paper number: 86
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo1S.7

A Soft Robotic Detrusor Based on Balloon Hydraulic Actuators for Artificial Bladder Voiding

Author(s): Laura Galassi,Linda Paterno*,Federica Semproni,Simone Onorati,Veronica Iacovacci,Arianna Menciassi
Keywords: Soft Robot Applications; Hydraulic/Pneumatic Actuators; Prosthetics and Exoskeletons
Paper number: 87
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo1S.8

Multi-Layer Electrical Impedance Tomography Based Soft Tactile Skins

Author(s): Yuexuan Wang, Daichi Naritomi, Hiroki Shigemune, Thomas George Thuruthel*
Keywords: Soft Sensors and Actuators; Force and Tactile Sensing; Soft Robot Materials and Design
Paper number: 88
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: WeAT1.6

Gotta Catch ’em All, Safely! Aerial-Deployed Soft Underwater Gripper

Author(s): Luca Romanello*, Daniel Joseph Amir, Heinrich Stengel, Mirko Kovac, Sophie Franziska Armanini
Keywords: Grippers and Other End-Effectors; Soft Robot Applications; Soft Robot Materials and Design
Paper number: 89
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo1S.9

Improving the Loading and Sensing Performance of a Soft Actuator Using an Internal Spine

Author(s): Codrutza-Maria Dragu, Alessandro Albini*, Liang He, Perla Maiolino
Keywords: Soft Sensors and Actuators; Force and Tactile Sensing
Paper number: 90
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo1S.10

Dish-Shaped Thin Beads: A Novel Bead Shape for Wire-Driven Variable Stiffness Mechanisms

Author(s): Haruto Miida, Masahiro Watanabe, Kenjiro Tadakuma*, Kazuki Abe, Issei Onda, Satoshi Tadokoro
Keywords: Tendon/Wire Mechanism; Compliant Joint/Mechanism
Paper number: 91
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo1S.11

Starfish-Inspired Scooping Soft Gripper for Cluster Grasping Applications

Author(s): Dontu Saikrishna, Elgar Kanhere, Pablo Valdivia y Alvarado*
Keywords: Grippers and Other End-Effectors; Grasping; Biologically-Inspired Robots
Paper number: 94
Type of paper: Contributed Papers
Presentation mode: Oral
Confrence code: TuBT1.2

Symmetric Deform-Ability Pressure-Vacuum Actuator Via Single Channel

Author(s): Shoma Abe*, Jun Ogawa, Yosuke Watanabe, MD Nahin Islam Shiblee, Hidemitsu Furukawa
Keywords: Soft Sensors and Actuators; Soft Robot Materials and Design; Soft Robot Applications
Paper number: 95
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo1S.12

One-Piece 3D-Printed Pneumatic Catheter: Dual-Segment Design with Integrated Robotics Control for Endovascular Interventions

Author(s): Shaopeng Jiang, Lingyun Di, Noah Barnes, Hannah Qu, Olivia Young, Jeremy DeLaine Brown, Ryan Sochol, Axel Krieger*
Keywords: Surgical Robotics: Steerable Catheters/Needles; Hydraulic/Pneumatic Actuators; Soft Robot Materials and Design
Paper number: 97
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo2S.1

Wood-Based Hygromorphic Robots Mastered in Ten Minutes, Fostering Ideation through Tangible Coding*

Author(s): Vihmar Marie*, Indrek Must
Keywords: Education Robotics; Soft Robot Materials and Design; Biologically-Inspired Robots
Paper number: 98
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo2S.2

SoftTract: A Novel Peristaltic Design for Improving Control and Performance of GI Tract Simulants

Author(s): Enrico Werner*, Keren Yue, Andrew Hinitt, James Raddaway, Andrew Conn, Jonathan Rossiter
Keywords: Soft Robot Applications; Soft Robot Materials and Design
Paper number: 99
Type of paper: Contributed Papers
Presentation mode: Interactive
Confrence code: TuPo2S.3

Controlling the Fold: Proprioceptive Feedback in a Soft Origami Robot

Author(s): Nathaniel Hanson*, Sonia Roberts, Immanuel Ampomah Mensah, Celina Wu, Jessica Healey, Donelle Furline Jr, Kristen Dorsey
Keywords: Modeling, Control, and Learning for Soft Robots; Sensor-based Control; Soft Sensors and Actuators
Paper number: 263
Type of paper: Late Breaking Results Submissions
Presentation mode: Interactive
Confrence code: WePo1S.12

A Multimodal Soft Gripper with Variable Stiffness and Variable Gripping Range Based on MASH Actuator

Author(s): Dannuo Li, Xuanyi Zhou, Quan Xiong*, Chen-Hua Yeow
Keywords: Grippers and Other End-Effectors; Soft Robot Applications
Paper number: 264
Type of paper: Late Breaking Results Submissions
Presentation mode: Interactive
Confrence code: WePo1S.7

Soft and lightweight fabric enables powerful and high-range pneumatic actuation

Author(s): Zhuang Zhang*
Keywords: Soft Robot Materials and Design; Soft Sensors and Actuators; Grippers and Other End-Effectors
Paper number: 265
Type of paper: Late Breaking Results Submissions
Presentation mode: Interactive
Confrence code: WePo1S.31

Demonstration: Human Robot Co-Manipulation with Pneumatic Robotic Manipulators

Author(s): Dallin L Cordon*, Shaden Moss, Marc Killpack, John Salmon
Keywords: Human Factors and Human-in-the-Loop; Hydraulic/Pneumatic Actuators; Compliant Joint/Mechanism
Paper number: 266
Type of paper: Late Breaking Results Submissions
Presentation mode: Interactive
Confrence code: WePo1S.11

Crumple-recoverable electronics based on plastic to elastic deformation transitions

Author(s): Yeonwook Roh, Seunggon Lee, Je-Sung Koh, Daeshik Kang, Seungyong Han*
Keywords: Biomimetics; Soft Sensors and Actuators; Soft Robot Applications
Paper number: 267
Type of paper: Late Breaking Results Submissions
Presentation mode: Interactive
Confrence code: WePo1S.3

Investigating the Impact of Chamber Variations on Smart Suction Cup Deformation and Grasping Efficiency

Author(s): Jungpyo Lee*, Sebastian Lee, Hannah Stuart
Keywords: Grippers and Other End-Effectors; Soft Robot Applications; Soft Sensors and Actuators
Paper number: 268
Type of paper: Late Breaking Results Submissions
Presentation mode: Interactive
Confrence code: WePo1S.8

Jamming of Magnetorheological Elastomers

Author(s): Taylan Atakuru*, Evren Samur
Keywords: Soft Robot Materials and Design; Soft Robot Applications; Modeling, Control, and Learning for Soft Robots
Paper number: 269
Type of paper: Late Breaking Results Submissions
Presentation mode: Interactive
Confrence code: WePo1S.25

A New Thin Tuneable Lens for Soft Opto-Mechatronics

Author(s): Giacomo Sasso, Nicola Pugno, James Busfield, Federico Carpi*
Keywords: Soft Robot Applications; Computer Vision for Other Robotic Applications; Biomimetics
Paper number: 270
Type of paper: Late Breaking Results Submissions
Presentation mode: Interactive
Confrence code: WePo1S.18

Demonstration: Helix soft maniplulator

Author(s): Francesco Stella*, Cosimo Della Santina, Josie Hughes
Keywords: Soft Robot Applications; Soft Robot Materials and Design; Soft Sensors and Actuators
Paper number: 271
Type of paper: Late Breaking Results Submissions
Presentation mode: Interactive
Confrence code: WePo1S.22

Demonstration: Design and Control Co-Optimization for Automated Design Iteration of Dexterous Anthropomorphic Soft Robotic Hands

Author(s): Pragna Mannam*, Xingyu Liu, DING ZHAO, Jean Oh, Nancy S Pollard
Keywords: Multifingered Hands; Grasping; Soft Robot Materials and Design
Paper number: 272
Type of paper: Late Breaking Results Submissions
Presentation mode: Interactive
Confrence code: WePo1S.15

Demonstration: Cutaneous Electrohydraulic (CUTE) Wearable Devices for Expressive and Salient Haptic Feedback

Author(s): Natalia Sanchez-Tamayo, Zachary Yoder, Giulia Ballardini, Philipp Rothemund, Christoph Keplinger, Katherine J. Kuchenbecker*
Keywords: Haptics and Haptic Interfaces; Soft Sensors and Actuators; Wearable Robots
Paper number: 273
Type of paper: Late Breaking Results Submissions
Presentation mode: Interactive
Confrence code: WePo1S.10

Video-based Analysis of Soft Robot Dynamics via DeepLabCut

Author(s): Chukwuemeka George Ochieze*, Zhen LIU, Ye Sun
Keywords: Soft Robot Applications; Computer Vision for Other Robotic Applications; Modeling, Control, and Learning for Soft Robots
Paper number: 274
Type of paper: Late Breaking Results Submissions
Presentation mode: Interactive
Confrence code: WePo1S.19

Computationally Efficient Lookahead Search for Contact-aided Navigation for Tendon-driven Continuum Robots

Author(s): Priyanka Rao*, Itai Spigelman, Oren Salzman, Jessica Burgner-Kahrs
Keywords: Modeling, Control, and Learning for Soft Robots; Soft Robot Applications; Contact Modeling
Paper number: 275
Type of paper: Late Breaking Results Submissions
Presentation mode: Interactive
Confrence code: WePo1S.13

Deployment of Microrobots with Soft Growing Robots

Author(s): Mustafa Ugur, Ethan DeVries, Laura Blumenschein*
Keywords: Soft Robot Materials and Design; Soft Robot Applications; Search and Rescue Robots
Paper number: 276
Type of paper: Late Breaking Results Submissions
Presentation mode: Interactive
Confrence code: WePo1S.26

Robot-Assisted Button Fastening Using Soft Tactile Sensors

Author(s): Huajing Zhao*, Veronica J. Santos
Keywords: Perception for Grasping and Manipulation; Force and Tactile Sensing; Haptics and Haptic Interfaces
Paper number: 277
Type of paper: Late Breaking Results Submissions
Presentation mode: Interactive
Confrence code: WePo1S.16

A System Architecture for Modular High-Speed Electrohydraulic Soft Continuum Robots

Author(s): Ingemar Schmidt*, Xiying Li, Ye-Jin Park, Zachary Yoder, Natalia Sanchez-Tamayo, Christoph Keplinger
Keywords: Soft Robot Materials and Design; Biologically-Inspired Robots; Cellular and Modular Robots
Paper number: 278
Type of paper: Late Breaking Results Submissions
Presentation mode: Interactive
Confrence code: WePo1S.23

Integrated Surrogate Modeling for Soft Pneumatic Actuators Informed by Physics-Guided Deep Learning (PDGL)

Author(s): Sameh I. Beaber*, Ye Sun
Keywords: Deep Learning in Robotics and Automation; Hydraulic/Pneumatic Actuators
Paper number: 279
Type of paper: Late Breaking Results Submissions
Presentation mode: Interactive
Confrence code: WePo1S.5

Demonstration: Soft Growing Pin for High-Extension Shape-Changing Displays

Author(s): Antonio Alvarez Valdivia*, Mohammad Rezqalla, Sarah Swann, Laura Blumenschein
Keywords: Soft Robot Applications; Haptics and Haptic Interfaces; Soft Sensors and Actuators
Paper number: 280
Type of paper: Late Breaking Results Submissions
Presentation mode: Interactive
Confrence code: WePo1S.21

Demonstration: The Application of Pneumatic Sleeves for Adaptable and Low-Displacement Anchoring in Exosuits

Author(s): Katalin Schäffer*, Ultan Fallon, Margaret M. Coad
Keywords: Wearable Robots; Soft Robot Materials and Design; Physical Human-Robot Interaction
Paper number: 281
Type of paper: Late Breaking Results Submissions
Presentation mode: Interactive
Confrence code: WePo1S.30

Demonstration: Paleobionics Advancing Soft Robotics with Paleontology

Author(s): Richard Desatnik*, Carmel Majidi, Philip LeDuc
Keywords: Biomimetics; Optimization and Optimal Control; Legged Robots
Paper number: 282
Type of paper: Late Breaking Results Submissions
Presentation mode: Interactive
Confrence code: None

Biocompatible Pressure Mapping Surface

Author(s): Anastasia Koivikko, Mariana Tovar Torres, Robert Shepherd*
Keywords: Soft Sensors and Actuators; Force and Tactile Sensing
Paper number: 283
Type of paper: Late Breaking Results Submissions
Presentation mode: Interactive
Confrence code: WePo1S.28

Demonstration: Highly Modular, Variable-Stiffness Tensegrity Robot

Author(s): Jonathan Mi*, Wenzhe Tong, Xiaonan Huang
Keywords: Soft Robot Applications; Force Control; Tendon/Wire Mechanism
Paper number: 284
Type of paper: Late Breaking Results Submissions
Presentation mode: Interactive
Confrence code: WePo1S.20

Deformation Control of Fabric-Based Pneumatic Patch Actuators

Author(s): Kentaro Kimura*, Hiroki Ishizuka, Sei Ikeda, Osamu Oshiro
Keywords: Soft Sensors and Actuators; Soft Robot Materials and Design; Hydraulic/Pneumatic Actuators
Paper number: 285
Type of paper: Late Breaking Results Submissions
Presentation mode: Interactive
Confrence code: WePo1S.29

Realizing Desired Shapes for a Shape Morphing Manipulator

Author(s): Zhe Chen*, Li Chen, Hao Zhang, Jianguo Zhao
Keywords: Modeling, Control, and Learning for Soft Robots; Tendon/Wire Mechanism; Compliant Joint/Mechanism
Paper number: 286
Type of paper: Late Breaking Results Submissions
Presentation mode: Interactive
Confrence code: WePo1S.14

Soft Pneumatic Actuator with Re-configurable Actuation using Multiple Self-Healing Polymers

Author(s): Hiroki Ishizuka*, Shota Kosaka, Yoichi Masuda, Parinya Punpongsanon, Sei Ikeda, Osamu Oshiro
Keywords: Soft Robot Materials and Design; Soft Sensors and Actuators; Additive Manufacturing
Paper number: 287
Type of paper: Late Breaking Results Submissions
Presentation mode: Interactive
Confrence code: WePo1S.27

Proprioceptive Contact Detection for Shape Memory Alloy Actuated Soft Robots

Author(s): Ran Jing*, Meredith Anderson, Juan Pacheco Garcia, Ilyoung Yang, Sarah Alizadeh-Shabdiz, Andrew Sabelhaus
Keywords: Contact Modeling; Force and Tactile Sensing; Modeling, Control, and Learning for Soft Robots
Paper number: 288
Type of paper: Late Breaking Results Submissions
Presentation mode: Interactive
Confrence code: WePo1S.4

Translating Biology to Robotics through Multiphysics Computational Mechanics

Author(s): Adamya Dhaker, Yuchen Sun, Francesco Regazzoni, Luca Dede', Cecilia Laschi, Gianmarco Mengaldo*
Keywords: Biologically-Inspired Robots; Simulation and Animation; Soft Robot Materials and Design
Paper number: 289
Type of paper: Late Breaking Results Submissions
Presentation mode: Interactive
Confrence code: WePo1S.1

Particle Jamming-based Hardness-Changing Robots with Non-Pneumatic Actuators

Author(s): Joshua Brown*, Fernando Bello
Keywords: Soft Robot Materials and Design; Haptics and Haptic Interfaces
Paper number: 290
Type of paper: Late Breaking Results Submissions
Presentation mode: Interactive
Confrence code: WePo1S.24

Demonstration: Origami-Inspired Autonomous Crawling Robot with 3D Multi-terrain Exploration

Author(s): Jiaqi Wang, Jiyang Wang, Yufei Xi, Xiaonan Huang*
Keywords: Soft Robot Applications
Paper number: 291
Type of paper: Late Breaking Results Submissions
Presentation mode: Interactive
Confrence code: WePo1S.17

Wireless tactile sensor with audible frequency transmission

Author(s): Jadesola Aderibigbe*, Monica Li, Hannah Stuart
Keywords: Force and Tactile Sensing; Soft Sensors and Actuators; Soft Robot Applications
Paper number: 292
Type of paper: Late Breaking Results Submissions
Presentation mode: Interactive
Confrence code: WePo1S.6

Demonstration: Particle Jamming-based Hardness-Changing Robots with Non-Pneumatic Actuators

Author(s): Joshua Brown*, Fernando Bello
Keywords: Haptics and Haptic Interfaces; Soft Robot Materials and Design
Paper number: 293
Type of paper: Late Breaking Results Submissions
Presentation mode: Interactive
Confrence code: WePo1S.9

Back-Stretchable McKibben Muscles: Expanding the Range of Antagonistic Muscle Driven Joints

Author(s): Tanaka, Shoma*,Nabae, Hiroyuki,Suzumori, Koichi
Keywords: Soft Sensors and Actuators; Soft Robot Applications
Paper number: 1
Type of paper: RAL Submissions
Presentation mode: Interactive
Confrence code: MoPo1S.1

Active-Bending Six-Bar Tensegrity Modular Robot Driven by Thin Artificial Muscles

Author(s): Kobayashi, Ryota*,Nabae, Hiroyuki,Suzumori, Koichi
Keywords: Soft Robot Applications; Soft Sensors and Actuators
Paper number: 2
Type of paper: RAL Submissions
Presentation mode: Oral
Confrence code: MoBT1.5

StarBlocks: Soft Actuated Self-Connecting Blocks for Building Deformable Lattice Structures

Author(s): Zhao, Luyang*,Wu, Yijia,Yan, Wenzhong,Zhan, Weishu,Huang, Xiaonan,Booth, Joran,Mehta, Ankur,Bekris, Kostas E.,Kramer-Bottiglio, Rebecca,Balkcom, Devin
Keywords: Cellular and Modular Robots; Soft Robot Materials and Design; Robotics and Automation in Construction
Paper number: 247
Type of paper: RAL Submissions
Presentation mode: Interactive
Confrence code: MoPo1S.31

Soft Robot Shape Estimation with IMUs Leveraging PCC Kinematics for Drift Filtering

Author(s): Stella, Francesco*,Della Santina, Cosimo,Hughes, Josie
Keywords: Modeling, Control, and Learning for Soft Robots; Soft Sensors and Actuators; Calibration and Identification
Paper number: 248
Type of paper: RAL Submissions
Presentation mode: Interactive
Confrence code: MoPo1S.32

Arm Back Support Suit (Abs-Suit) for Parcel Delivery with a Passive Load Redistribution Mechanism

Author(s): Yoo, Hye Ju,Lee, Jewoo,Cho, Kyu-Jin*
Keywords: Wearable Robotics; Soft Robot Applications; Physically Assistive Devices
Paper number: 249
Type of paper: RAL Submissions
Presentation mode: Interactive
Confrence code: MoPo2S.16

An Open Source Design Optimization Toolbox Evaluated on a Soft Finger

Author(s): Escaida Navarro, Stefan,Navez, Tanguy*,Goury, Olivier,Molina, Luis,Duriez, Christian
Keywords: Soft Sensors and Actuators; Soft Robot Materials and Design; Modeling, Control, and Learning for Soft Robots
Paper number: 25
Type of paper: RAL Submissions
Presentation mode: Interactive
Confrence code: MoPo1S.11

MoSS: Monocular Shape Sensing for Continuum Robots

Author(s): Shentu, Chengnan*,Li, Enxu,Chen, Chaojun,Dewi, Puspita Triana,Lindell, David,Burgner-Kahrs, Jessica
Keywords: Modeling, Control, and Learning for Soft Robots; Computer Vision for Medical Robotics; Data Sets for Robot Learning
Paper number: 250
Type of paper: RAL Submissions
Presentation mode: Interactive
Confrence code: MoPo2S.17

Magnetic Repulsion-Based Robot with Diverse Locomotion Capabilities

Author(s): Wei, Zihan,Li, Zongze,Xiang, Yuxuan,Liu, Jun,Zhang, Jiachen*
Keywords: Micro/Nano Robots; Kinematics; Motion Control
Paper number: 251
Type of paper: RAL Submissions
Presentation mode: Interactive
Confrence code: MoPo2S.18

A Small Steerable Tip Based on Dielectric Elastomer Actuators

Author(s): Lee, Siyoung*,Moghani, Masoud,Li, Ang (Leo),Duduta, Mihai
Keywords: Soft Sensors and Actuators; Soft Robot Materials and Design; Soft Robot Applications
Paper number: 252
Type of paper: RAL Submissions
Presentation mode: Interactive
Confrence code: MoPo2S.19

Describing and Analyzing Mechanical Contact for Continuum Robots Using a Shooting-Based Cosserat Rod Implementation

Author(s): Wiese, Mats*,Berthold, Rebecca,Wangenheim, Matthias,Raatz, Annika
Keywords: Modeling, Control, and Learning for Soft Robots; Flexible Robotics; Contact Modeling
Paper number: 253
Type of paper: RAL Submissions
Presentation mode: Interactive
Confrence code: TuPo1S.28

Robotic Skins with Integrated Actuation, Sensing, and Variable Stiffness

Author(s): Shah, Dylan S.*,Woodman, Stephanie,Buckner, Trevor,Yang, Ellen J.,Kramer-Bottiglio, Rebecca
Keywords: Soft Robot Materials and Design; Cellular and Modular Robots; Biologically-Inspired Robots
Paper number: 254
Type of paper: RAL Submissions
Presentation mode: Oral
Confrence code: MoAT1.7

DELTAHANDS: A Synergistic Dexterous Hand Framework Based on Delta Robots

Author(s): Si, Zilin*,Zhang, Kevin,Kroemer, Oliver,Temel, Zeynep
Keywords: Multifingered Hands; Grippers and Other End-Effectors; Dexterous Manipulation
Paper number: 255
Type of paper: RAL Submissions
Presentation mode: Interactive
Confrence code: TuPo1S.29

Hardware-In-The-Loop Soft Robotic Testing Framework Using an Actor-Critic Deep Reinforcement Learning Algorithm

Author(s): Marquez, Jesus*,Sullivan, Charles,Price, Ryan,Roberts, Robert
Keywords: Modeling, Control, and Learning for Soft Robots; Hardware-Software Integration in Robotics; Reinforcement Learning
Paper number: 256
Type of paper: RAL Submissions
Presentation mode: Interactive
Confrence code: TuPo1S.30

A Soft Continuum Robot with Self-Controllable Variable Curvature

Author(s): Wang, Xinran*,Lu, Qiujie,Lee, Dongmyoung,Gan, Zhongxue,Rojas, Nicolas
Keywords: Soft Robot Materials and Design; Soft Robot Applications; Mechanism Design
Paper number: 257
Type of paper: RAL Submissions
Presentation mode: Oral
Confrence code: MoBT1.6

High-Speed Tactile Braille Reading Via Biomimetic Sliding Interactions

Author(s): Potdar, Parth,Hardman, David*,Almanzor, Elijah,Iida, Fumiya
Keywords: Soft Sensors and Actuators; Force and Tactile Sensing
Paper number: 258
Type of paper: RAL Submissions
Presentation mode: Interactive
Confrence code: TuPo1S.31

Sphere-Graph: A Compact 3D Topological Map for Robotic Navigation and Segmentation of Complex Environments

Author(s): Spencer, Meryl*,Sawtell, Reid,Kitchen, Sarah
Keywords: Mapping; Autonomous Vehicle Navigation; Object Detection, Segmentation and Categorization
Paper number: 259
Type of paper: RAL Submissions
Presentation mode: Interactive
Confrence code: TuPo1S.32

Impact of Physical Parameters and Vision Data on Deep Learning-Based Grip Force Estimation for Fluidic Origami Soft Grippers

Author(s): Rho, Eojin,Kim, Woongbae,Mun, Jungwook,Yu, Sung Yol,Cho, Kyu-Jin,Jo, Sungho*
Keywords: Modeling, Control, and Learning for Soft Robots; Grippers and Other End-Effectors; Soft Sensors and Actuators
Paper number: 260
Type of paper: RAL Submissions
Presentation mode: Interactive
Confrence code: TuPo2S.30

A Variable Stiffness Anthropomorphic Finger through Embodied Intelligence Design

Author(s): Legrand, Julie*,Wang, Huijiang,Iida, Fumiya,Vanderborght, Bram
Keywords: Mechanism Design; Prosthetics and Exoskeletons
Paper number: 261
Type of paper: RAL Submissions
Presentation mode: Interactive
Confrence code: TuPo2S.31

Finite Element Modeling of Pneumatic Bending Actuators for Inflated-Beam Robots

Author(s): du Pasquier, Cosima*,Jeong, Sehui,Okamura, Allison M.
Keywords: Hydraulic/Pneumatic Actuators; Soft Robot Applications; Soft Robot Materials and Design
Paper number: 3
Type of paper: RAL Submissions
Presentation mode: Oral
Confrence code: TuAT1.7

Integrated Pneumatic Sensing and Actuation for Soft Haptic Devices

Author(s): Choi, Hojung*,Cutkosky, Mark,Stanley, Andrew A.
Keywords: Soft Sensors and Actuators; Force and Tactile Sensing; Haptics and Haptic Interfaces
Paper number: 4
Type of paper: RAL Submissions
Presentation mode: Oral
Confrence code: WeAT1.7

Wireless Millimeter-Size Soft Climbing Robots with Omnidirectional Steerability on Tissue Surfaces

Author(s): Xu, Yilan,Xiao, Boyang,Balakumar, Lohit,Obstein, Keith,Dong, Xiaoguang*
Keywords: Soft Sensors and Actuators; Soft Robot Applications; Soft Robot Materials and Design
Paper number: 7
Type of paper: RAL Submissions
Presentation mode: Interactive
Confrence code: MoPo1S.2

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