6 papers
Programmable Deformation Design of Porous Soft Actuator through Volumetric-Pattern-Induced Anisotropy
Canqi Meng, Weibang Bai
Conventional soft pneumatic actuators, typically based on hollow elastomeric chambers, often suffer from small structural support and require costly geometry-specific redesigns for…
P-FABRIK: A General Intuitive and Robust Inverse Kinematics Method for Parallel Mechanisms Using FABRIK Approach
Daqian Cao, Quan Yuan, Weibang Bai
Traditional geometric inverse kinematics methods for parallel mechanisms rely on specific spatial geometry constraints. However, their application to redundant parallel mechanisms…
A Novel Robotic Variable Stiffness Mechanism Based on Helically Wound Structured Electrostatic Layer Jamming
Congrui Bai, Zhenting Du, Weibang Bai
This paper introduces a novel variable stiffness mechanism termed Helically Wound Structured Electrostatic Layer Jamming (HWS-ELJ) and systematically investigates its potential app…
Geometric Parameter Optimization of a Novel 3-(PP(2-(UPS))) Redundant Parallel Mechanism based on Workspace Determination
Quan Yuan, Daqian Cao, Weibang Bai
Redundant parallel robots are normally employed in scenarios requiring good precision, high load capability, and large workspace compared to traditional parallel mechanisms. Howeve…
Design and Validation of an Under-actuated Robotic Finger with Synchronous Tendon Routing
Quan Yuan, Zhenting Du, Daqian Cao +1
Tendon-driven under-actuated robotic fingers provide advantages for dexterous manipulation through reduced actuator requirements and simplified mechanical design. However, achievin…
CS3D: An Efficient Facial Expression Recognition via Event Vision
Zhe Wang, Qijin Song, Yucen Peng +1
Responsive and accurate facial expression recognition is crucial to human-robot interaction for daily service robots. Nowadays, event cameras are becoming more widely adopted as th…