Soft actuators and their sensors have always been separate entities with two distinct roles.
The omnidirectional compliance of soft robots thus means that multiple sensors have to be …

This article presents a distributed curvature sensing and shape reconstruction method
based on parallel dual fiber Bragg grating (FBG) arrays for a type of cable-driven soft …

In current research on soft grippers, pneumatically actuated soft grippers are generally
fabricated using fully soft materials, which have the advantage of flexibility as well as the …

A novel variable stiffness soft robotic hand (SRH) consists of three pieces of layer jamming
structure (LJS) is proposed. The mechanism is driven by the motor‐based tendon along the …

This paper proposes a real-time method for estimating the shape of an elastic rod using a
robot manipulator equipped with a sense of force. The proposed method does not use …

Adaptive grippers enable easy and robust grasping of diverse objects by adapting to their
shapes and enclosing them. However, determining the exact state of the hand remains …

In this paper, we propose a three-fingered end-effector driven by pneumatic soft actuators.
The proposed end-effector has three thin sticks as the finger, and grips a food with three …

Switching backdrivability according to use status is important to attain energy-saving and
compliance in co-worker robots. Authors have proposed switching backdrivability by exciting …

In this study, a method to estimate grasping state and object of a flat shell gripper with single
capacitance-based sensor is presented. The strain and proximity are measured by using a …

In this study, the influence of the contact area on measurements by a soft capacitive force
sensor was analyzed. Based on the results, a method for selecting a dielectric material to …