3 papers
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…
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…