12 papers
Continuous and large-scale: ELEANOR, the soft architected arm inspired by the elephant trunk
Giovanna A. Naselli, Anderson B. Nardin, Seonggun Joe +6
The elephant trunk is a dexterous and versatile manipulator whose performance is still unmatched in robotics. In previous works, modularity was prioritized and relatively small-sca…
Selective Unit-Cell Actuation in Lattice Structures for Distributed Morphology in Soft Robots
Trevor Exley, Altair Coutinho, Lucia Beccai
Soft lattice structures are increasingly used in robotics to tailor compliance and guide deformation; however, actuation is typically introduced at the device or module level, with…
Bidirectional Optical sensors for Actuation Tracking (BOAT) in soft lattice systems
Petr Trunin, Carolina Gay, Anderson Brazil Nardin +3
The growing adoption of lattice-based structures in soft robotics creates a need for advanced sensing solutions capable of monitoring their global deformation, particularly compres…
Surface-based Manipulation Using Tunable Compliant Porous-Elastic Soft Sensing
Gayatri Indukumar, Muhammad Awais, Diana Cafiso +2
There is a growing need for soft robotic platforms that perform gentle, precise handling of a wide variety of objects. Existing surface-based manipulation systems, however, lack th…
Optically Sensorized Electro-Ribbon Actuator (OS-ERA)
Carolina Gay, Petr Trunin, Diana Cafiso +3
Electro-Ribbon Actuators (ERAs) are lightweight flexural actuators that exhibit ultrahigh displacement and fast movement. However, their embedded sensing relies on capacitive senso…
3D-printed Soft Optical sensor with a Lens (SOLen) for light guidance in mechanosensing
Diana Cafiso, Petr Trunin, Carolina Gay +1
Additive manufacturing is enabling soft robots with increasingly complex geometries, creating a demand for sensing solutions that remain compatible with single-material, one-step f…