Soft Manipulator

Design and control soft manipulators for human-robot interaction.

Soft Actuators

Design of soft pneumatic actuators

Journal Articles

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A novel soft robotic hand, BCL-26, with 26 independent degrees of freedom is proposed, replicating the human hand model.
PDF Video IEEE Access

A novel kinematic modeling method of a soft continnum arm consisting of 6 bellows.
PDF Project Video RA-L

An 3D printed origamic soft robotic joint with enhanced strength, servo performance, and impact behavior shaping
PDF Project TRO

A dexterous soft robotic hand, BCL-13, with 4 fingers and 13 independently-actuated joints capable of in-hand manipulation is proposed.
PDF RA-L

A soft robotic joint with variable stiffness control and adjustable collision response.
PDF Project Video RA-L

A novel pneumatic soft linear actuator Fiber-reinforced Origamic Robotic Actuator (FORA) is proposed.
PDF Project Video Soft Robotics

This letter presents a novel soft robotic glove system for assistive and rehabilitative applications, offering a powerful, low-profile, …
PDF Project RA-L

Conference Proceedings

A general and intuitive control approach for various soft end-effectors with different kinematic structures is proposed.
PDF Video RoboSoft

Design and control of a 13-DOF soft robotic hand.
PDF Video Humanoids

An analytical solution to the dynamic balance control of the Acrobot is derived.
PDF Video RCAR

we present a compliant robotic gripper, Edgy-2, with 4-DOF dexterity, enabling four grasping modes.
PDF Video RoboSoft

Design of a 6-DOF soft manipulator driven by 12 bellows.
PDF Project Video ICRA

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