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cs.RO2025
An Enhanced Proprioceptive Method for Soft Robots Integrating Bend Sensors and IMUs
Dong Heon Han, Mayank Mehta, Runze Zuo +2
This study presents an enhanced proprioceptive method for accurate shape estimation of soft robots using only off-the-shelf sensors, ensuring cost-effectiveness and easy applicabil…
cs.RO2025
Whole-Body Proprioceptive Morphing: A Modular Soft Gripper for Robust Cross-Scale Grasping
Dong Heon Han, Xiaohao Xu, Yuxi Chen +5
Biological systems, such as the octopus, exhibit masterful cross-scale manipulation by adaptively reconfiguring their entire form, a capability that remains elusive in robotics. Co…
cs.RO2025
UMArm: Untethered, Modular, Portable, Soft Pneumatic Arm
Runze Zuo, Dong Heon Han, Richard Li +2
Robotic arms are essential to modern industries, however, their adaptability to unstructured environments remains limited. Soft robotic arms, particularly those actuated pneumatica…