Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 34 for “"soft robot"”.
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Pneumatic variable stiffness soft robot end effectors
Traditionally, robots have been formed from heavy rigid materials and have used stiff actuator technologies. This means they are not well suited to operation near humans due to the associated high risk of injury, should a collision occur. Additionally, rigid robots are not well suited to operation …
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Physics-based simulation of hyperelastic soft robot motion
The student, Kevin Wandke, submitted this Thesis for approval on 2022-04-27 at 10:20.
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Robust proprioceptive grasping with a soft robot hand
This work presents a soft hand capable of robustly grasping and identifying objects based on internal state measurements along with a combined system which autonomously performs grasps. A highly compliant soft hand allows for intrinsic robustness to grasping uncertainties; the addition of internal …
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Hydrogen Fuel Cell Driven Origami-Inspired Large-Elongation Soft Robot Modules
Soft robots have gained popularity in recent years, especially in fields spanning medicine, space, to assistive robotics. Unlike traditionally rigid robots, soft robots offer inherent safety and a robust design. Furthermore, modular reconfigurable soft robots, which are robots composed of repeating …
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Toward a Distributed Actuation and Cognition Means for a Miniature Soft Robot
… project aimed towards developing a miniature soft robot for urban search and rescue (USAR). The three significant contributions of the thesis are verifying the water hammer actuation previous work, developing an estimator of water hammer impulse direction from hose shape, and creating the …
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Multi-physics based simulation of hyper elastic soft robot motion with hydraulic actuation
Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2026-05-01
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A Multi-DOF Soft Robot Mechanism for Patient Motion Correction and Beam Orientation Selection in Cancer Radiation Therapy
… deformation, and control systems to harness soft robot mechanisms for real-time motion correction in cancer radiation therapy scenarios. Additionally, in most inverse treatment planning schemes today, the “right” beam angles among the myriad possibilities in beam space are usually determined …
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Jacobian-based control of soft robots for manipulation using implicit surface models
Soft robot hands offer numerous advantages over rigid ones for manipulation, including robustness and safety. Yet, compared to rigid robots, soft robots are characterized by continuous mechanics, and finite-element approximations with many degrees of freedom present a significant obstacle for …
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Embeddable micro pinch valve for localized pressure control on modular pneumatic soft robotic arm
The advantages of soft robots include being able to manipulate delicate objects, adaptive to uncertain and dynamic task-environments and interacting with human in an intrinsically friendly manner. These merits make them potentially useful in the nuclear industry, where robots have to handle …
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Computational Multi-material Inverse Design of Soft Robotic Actuators via Nonlinear Functional Optimization
The compliant nature of soft robotic actuators allows them to maneuver and interact with the environment in ways which are more adaptable and inherently safer compared to the traditional rigid body robots. However, this compliance makes it difficult to control their deformation as these actuators …
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Design and analysis of a soft prismatic joint by Amelia Tepper Servi.
… thesis documents the design and analysis of a soft prismatic joint for use in soft robotics. While this joint can be utilized in any soft robot, its immediate application is for Squishbot, a soft robot developed for the DARPA Chembot challenge. For the Squishbot application, the joint must fit …
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Design and Kinematics of a Dielectric Elastomer Actuated Micro Dragonfly Robot
… a unique way compared to other hovering insects. Soft robotics are used to learn more about their flapping motion. An at-scale dragonfly robot is designed around Dielectric Elastomer Actuators that compress and expand 0.5mm. With this knowledge, MATLAB was used to predict the linkage sizes that …
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Soft, Compliant Tactile Robotic Manipulators
When we look to the future of soft robotics and manipulation, we begin to look towards sensory-rich and compliant grasping mechanisms. Not only do we want to capitalize on the significant advantages in safety and adaptability that soft robots have, we also want to incorporate high-resolution …
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DEVELOPMENT OF A NANOCOMPOSITE SENSOR AND ELECTRONIC SYSTEM FOR MONITORING OF LOCOMOTION OF A SOFT EARTHWORM ROBOT
… areas represents a key feature of modern soft robotic systems, used for exploration of harsh environments. Although people have developed various types of biomimetic soft robots, no integratedsensor system is available to provide feedback locomotion. Here, a stretchable nanocomposite …
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Co-Optimization and Co-Learning Methods for Automated Design of Rigid and Soft Robots
… swim. Compared with their biological brethren, robotic "life" lacks rich dexterity or economy of motion, and their plainly simple designs indicate room for improvement. Unfortunately, a major barrier to creating similarly adept robots is the design process itself. Each aspect of robot design, …
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Towards Morphology-Agnostic Control for Soft Robots
The advent of soft robots promises to fundamentally shift the landscape of robotic systems as they offer several advantages over the current paradigm of rigid bodies. Most notably, they provide adaptability to uncertain environments and look to bridge the gap between humans and machines. However, …
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Vision-based Proprioceptive and Force Sensing for Soft Robotic Actuator
Developing reliable control strategies for soft robots requires advances in soft robot perception. Due to their near-infinite degrees of freedom, obtaining useful sensory feedback from soft robots remains a long-standing challenge. Moreover, sensorization methods must be co-developed with more …
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Design and analysis of active fluid-and-cellular solid composites for controllable stiffness robotic elements
… use of a new class of materials for realizing soft robots. Specifically, meso-scale composites--composed of cellular solids impregnated with active fluids-were be designed to have controllable stiffness to take the form of a continuous body of a soft robot. This represents an improvement …
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Additively Manufactured Dielectric Elastomer Actuators: Development and Performance Enhancement
… recently emerging and actively growing areas of soft robotics and morphing structures promise endless opportunities in a wide range of engineering fields, including biomedical, industrial, and aerospace. Soft actuators and sensors are essential components of any soft robot or morphing structure. …
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Soft Morphological Computation
Soft Robotics is a relatively new area of research, where progress in material science has powered the next generation of robots, exhibiting biological-like properties such as soft/elastic tissues, compliance, resilience and more besides. One of the issues when employing soft robotics technologies …
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