A Systematic Approach for Designing Slender Continuum Robots for Extended-Reach Aeroengine Endoscopic Applications

A Large Length-to-Diameter Ratio Continuum Robot with Remote Actuation for Confined Spaces

Continuum robots offer advantages such as a slender structure and high dexterity, making them particularly suitable for operation in confined and complex environments. However, their bulky drive systems severely limit their application in such spaces. To address this issue, this paper presents a continuum robot with mu...

Shaping by Contact: Aerial In-Situ Toolmaking With a Variable-Stiffness Manipulator

Toolmaking is a hallmark of biological intelligence, enabling organisms to manipulate unstructured environments. Translating this capability to micro aerial vehicles (MAVs) is fundamentally hindered by strict payload constraints that preclude carrying multiple specialized end-effectors. Here, we propose aerial in-situ...

TO-mdiSPAs: Topology Optimization of multi-directional Soft Pneumatic Actuators

Soft pneumatic actuators (SPAs) are highly promising and have been extensively explored within the field of soft robotics. Under pneumatic pressure loads, an SPA undergoes bending deformation to perform specific tasks. A multi- or omni-directional SPA can bend and move in any direction within a 3D space, leveraging its...

Lightweight and Integrated Design of Tubeless Hydraulic Quadruped Robot Based on Additive Manufacturing

Hydraulic quadruped robots exhibit exceptional terrain adaptability, offering significant potential for environmental exploration and military transportation. However, conventional hydraulic architectures are often plagued by excessive weight, complex pipeline network and mechanical interference, which restrict the i...

Design and analysis of an underactuated robotic hand integrating origami and mortise–tenon structures

Design and Experimental Validation of a 3D-Printed Torsional Series Elastic Actuator for Safe Human-Robot Interaction

Ensuring intrinsic safety in physical human robot interaction (pHRI) is a critical requirement for social and service robots. While Series Elastic Actuators (SEAs) offer hardware based compliance, traditional metallic designs often require complex, multi part assemblies. This paper presents the design, finite element a...