BICEP: A Bio-Inspired Compliant Elbow Prosthesis

Adopting compliant structures holds the potential to enhance the robustness and interaction capabilities of the next generation of bionic limbs. Although researchers have proficiently explored this approach in the design of artificial hands, they devoted little attention to the development of more proximal joints. This work presents a...

Learning 3D Shape Proprioception for Continuum Soft Robots with Multiple Magnetic Sensors

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...

Soft robotic manipulators with proprioception

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...

Putting Back Actuation in Pneumatically Actuated Soft Robots: modeling and backstepping control