Searched for: subject%3A%22Soft%255C%252BRobotics%22
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Bhatti, Ghanishtha (author)
Soft robots are characterized by compliant elements that introduce heightened kinematic complexity compared to their rigid counterparts. Such systems, with infinite degrees of freedom, are inherently underactuated, making precise real-time shape regulation a challenging task. Model-based controllers, utilizing tractable reduced-order modelling...
master thesis 2024
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van Veggel, Stein (author)
In the field of soft robotics, rigid joints and links are replaced by soft, deformable elements, This causes soft continuum robot arms to excel in unpredictable environments, but to face challenges during control and shape reconstruction. The sensing ability present in octopus suckers provides inspiration for solutions. Octopuses employ their...
master thesis 2023
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Horstman, Bart (author)
This study introduces a new design for the drivetrain of a robotic ball. An application for the robotic ball is a rehabilitation device for young children. With these children, movement can be stimulated in a more intuitive way when a robotic ball is used compared to other training programs. Since the ball will be kicked and played with, an...
master thesis 2023
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van der Staaij, Jasper (author)
An intracranial aneurysm is a bulge in the cerebral vasculature. The rupture of an aneurysm results in a brain bleed. As a consequence, most patients become severely handicapped or may even die. Preventive treatment with endovascular coiling is controversial due to the high risk of complications. These complications are partly caused by the...
master thesis 2022
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Willems van Dijk, Janne (author)
Conventional robots adopt wheels or robotic limbs for locomotion. Wheels are simple to control but not suitable for irregular terrains. On the other hand, robotic feet can overcome a wider variety of surfaces but are less desirable due to their complex design and control system. In nature, we find that invertebrate animals, like snails, can go...
master thesis 2022
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Elfferich, Rick (author)
Fruit and vegetable production is increasing worldwide, and farmers currently face a tough challenge in finding enough agricultural workers. Automation of the labour-intensive task of crop harvesting could help fill in this gap between supply and demand. However, picking soft fruits is challenging, as they can be easily damaged if not carefully...
master thesis 2022
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Baaij, T.A. (author), Klein Holkenborg, Marn (author), Stölzle, Maximilian (author), van der Tuin, Daan (author), Naaktgeboren, Jonatan (author), Babuska, R. (author), Della Santina, C. (author)
Sensing the shape of continuum soft robots without obstructing their movements and modifying their natural softness requires innovative solutions. This letter proposes to use magnetic sensors fully integrated into the robot to achieve proprioception. Magnetic sensors are compact, sensitive, and easy to integrate into a soft robot. We also...
journal article 2022
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Besselaar, Lars (author)
With robotics rapidly expanding towards new user-oriented applications, such as agriculture, households, and classrooms, new tasks and new requirements arise. One of the ongoing and unsolved problems that comes with the unpredictable new environments robots find themselves in, is soft object manipulation. Without assuming the handled object to...
master thesis 2021
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de Vries, Jelle (author)
Mobile soft robots show great potential for exploration of unknown and hard to navigate environments. Sadly, most of these robots are currently being held back by their power sources and control systems. These components, which are usually quite heavy and bulky, need to be integrated before mobile soft robots can cut their tethers and explore...
master thesis 2021
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van Gelder, Sebastiaan (author)
Background: Currently colonoscopies are difficult procedures to complete without complications. Due to the limitations in the state of the art flexible colonoscopes specialized maneuvers are required in order to allow the colonoscope to travel into the colon and reduce colon stretching. This thesis proposes a novel self-propelling mechanism...
master thesis 2021
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Stella, Francesco (author)
Many interesting designs of soft robots with variablestiffness capabilities have been presented in the literature. However, little attention has been given on the control of their embedded physical intelligence. In this work, we present an algorithm that exploits the variablejoint stiffness capabilities and the redundancy of a soft manipulator...
master thesis 2021
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Jani, Krishna (author)
In the current times, the world context is focused on trying to incorporate hybridity into various industries. There is a certain research gap between architecture and soft robotics where inflatable architecture has been implemented and architectural robotics has also been implemented but a combination of pneumatic robotics has not been explored...
master thesis 2021
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Kortman, Vera (author)
Gripping slippery, compliant, and irregular tissues during MIS is often challenging using a conventional gripper. A force grip has to compensate for the low friction coefficient between the gripper’s jaws and tissue surface. This study focuses on the development of a suction gripper as an alternative for the well-known tissue gripper. Suction...
master thesis 2021
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Scharff, R.B.N. (author)
Agriculture and horticulture depend heavily on human labor to perform tasks that are often dirty, hazardous, and highly repetitive. One reason for the lack of automation of these tasks is the absence of suitable robotic handling equipment. Rigid robotic manipulators are typically incapable of performing dexterous manipulation tasks such as...
doctoral thesis 2021
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Stölzle, Maximilian (author), Della Santina, C. (author)
abstract 2021
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Prakash, Shreyas (author)
Only 35 percent of the recent graduates are women. The figures are even lower for traditionally male dominated workforces such as engineering and robotics as women constitute only 12 percent of the engineering workforce. It is quite evident that we cannot ignore the gender equation when it comes to bringing in more equity in the workforce. As...
master thesis 2020
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Romaniuk, Filip (author)
The master's thesis explores the possibilities of reusing abandoned post-industrial structures and objects of architectural heritage. Objects, which are usually difficult to renovate due to high costs and their poor physical condition, could be filled with new inflatable volumes and thus be filled with new space, function, and life. The work is...
master thesis 2020
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Syriani, Thierry (author)
In a quest to breathe new life into public spaces and engage with its today’s increasingly (inter-)connected users, robotic architectural components seem to open up possibilities to give agency to building component. A new field of research has been involving multi-agent robotic systems in the architectural design and/or fabrication process....
master thesis 2020
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van den Berg, Sander (author)
We present a novel DC motor driven soft robotic fish and optimization based on experimental, numerical and theoretical investigation into oscillating propulsion for primarily speed and secondarily efficiency. Our system outperforms the previously fastest soft robotic fish Zhong et al. 2017 by a significant margin of 27%, with speeds up to 0.85m...
master thesis 2019
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Frouws, Jan (author)
This work introduces a new method to deal with design dependent pressure loads in Topology Optimisation (TO) using the SIMP material model. A pronounced focus is on optimising pressure actuated compliant mechanisms. The difficulty herein is the interpretation of the pressure boundary in a TO design. In TO the boundaries are blurry, because of...
master thesis 2017
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