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 59 for “"soft robotic"”.
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Pneumatic Soft Robotic System for Actuation and Sensing
L'abstract è presente nell'allegato / the abstract is in the attachment
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Dynamic Modeling of Soft Robotic Dielectric Elastomer Actuator
… and energy efficient driven mechanisms for soft robots. Simple DEAs consist mostly of a homogeneous elastomeric materials that transduce electrical energy into mechanical deformation by means of electrostatic attraction forces from coated electrodes. Furthermore, stacking multiple single …
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The development and characterization of soft robotic contractile actuators
In this paper, I describe the development of a soft-robotic myocardium and pneumatic artificial muscles (PAMs) that replicate the physiological motion of the heart. We were able to generate physiological twisting motion in a confined geometry, but additional actuators would be required to generate …
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Twisted and coiled polymer actuator (TCPA) for soft robotic applications
Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2027-05-01
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Deep reinforcement learning control of a 2D soft robotic arm
… for the development of a control policy for a 2D soft robotic arm. The simulation is based on the SOFA framework, which is a real-time multi-physics simulation package capable of creating models and computing forces for deformable materials. The 2D soft robotic arm is composed of two modules where …
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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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A Soft Robotic System for Mechanical Assistance to the Diaphragm
… like speech, swallowing, and mobility. Soft robots are ideal to assist in complex biological functions like the contraction of the diaphragm. Diaphragmatic mechanical assistance using implantable soft robots has shown promising results in restoring respiratory function. However, the the …
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A high-deformation electric soft robotic gripper via handed shearing auxetics
… of a new class of electrically-driven soft robotic actuators built from handed shearing auxetics (HSAs). Soft robots - robots made out of more compliant materials such as rubber and silicone - are significantly more robust and safer than their rigid-bodied counterparts due to their …
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Vision-based proprioception of a soft robotic finger with tactile sensing
Over the past decade, the development of soft robots has significantly progressed. Today, soft robots have a variety of usages in multiple fields, ranging from surgical robotics to prostheses to human-robot interaction. These robots are more versatile, adaptable, safe, robust, and dexterous than …
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Soft Robotic Platforms for the Simulation of Cardiovascular Disease and Device Development
… This thesis delves into the exploration of soft robotics in disease modeling, a promising avenue for faithfully replicating the biomechanical aspects of human disease in a patient-specific manner. In addition to supporting the development and evaluation of medical devices, high-fidelity …
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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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Reinforcement learning using reservoir computing for soft robotic control: A bio-inspired system
Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2023-12-01
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Deep Learning-Driven Modeling of Dynamic Acoustic Sensing in Biommetic Soft Robotic Pinnae
… using fixed deformation patterns in biomimetic soft-robotic sonar heads, such physical approaches are inherently limited in their ability to comprehensively explore the vast actuation pattern space that may enable bats to adaptively sense across diverse environments and tasks.To overcome these …
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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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Bio-inspired soft robotic systems: Exploiting environmental interactions using embodied mechanics and sensory coordination
… the widespread development of highly intelligent robotic systems exhibiting great precision, reliability, and dexterity, robots remain incapable of performing basic manipulation tasks that humans take for granted. Manipulation in unstructured environments continues to be acknowledged as a …
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Multifunctional soft robotic devices and cardiac benchtop models for improved therapy delivery and development
… Part 1 involves the development of implantable, soft robotic devices that can dynamically respond to their local in vivo environment to trigger or modify therapy delivery according to patient-specific anatomy and patient-specific physiological signals. Part 2 involves the development of benchtop …
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Automatic, Careful Online Packing of Groceries Using a Soft Robotic Manipulator and Multimodal Sensing
This thesis describes the use of soft robotic manipulators with multimodal sensing for estimating the physical properties of unknown objects to enable sorting and packing. Although bin packing has been a key benchmark task for robotic manipulation, the community has mainly focused on the placement …
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MIT SoFi: A Study in Fabrication, Target Tracking, and Control of Soft Robotic Fish
… from real SoFi experiments. The hardware and software challenges will be discussed and the proposed solutions will be evaluated. The combination of a consistent fabrication procedure and increased target tracking capabilities opens the door to fabricate a school of SoFi's and carry out robotic …
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Development of a modular and submersible soft robotic arm system and corresponding learned kinematics models
Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2023-12-01
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Design and Testing of a Respiratory Simulator for the Optimization of Soft Robotic Assistive Breathing Devices
… extremely difficult. Surgically implanted soft robotic actuators have been explored to mechanically support diaphragmatic motion in a patient that has lost function of such an important muscle. Optimizing these actuators before surgery is paramount and requires “in situ” testing that may …
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