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cs.RO2024
Bridging Hard and Soft: Mechanical Metamaterials Enable Rigid Torque Transmission in Soft Robots
Molly Carton, Jakub F. Kowalewski, Jiani Guo +4
Torque and continuous rotation are fundamental methods of actuation and manipulation in rigid robots. Soft robot arms use soft materials and structures to mimic the passive complia…
cs.RO2021
Kinematic Modeling of Handed Shearing Auxetics via Piecewise Constant Curvature
Aman Garg, Ian Good, Daniel Revier +2
Handed Shearing Auxetics (HSA) are a promising technique for making motor-driven, soft, continuum robots. Many potential applications from inspection tasks to solar tracking requir…
cs.RO2021
Expanding the Design Space for Electrically-Driven Soft Robots through Handed Shearing Auxetics
Ian Good, Tosh Brown-Moore, Aditya Patil +2
Handed Shearing Auxetics (HSA) are a promising structure for making electrically driven robots with distributed compliance that convert a motors rotation and torque into extension…