Soft Robotics最新文献

Selective Variable Stiffness Flexible Manipulator for Dexterous In-Hand Manipulation. 面向灵巧手操作的可变刚度柔性机械手。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2025-10-13 DOI: 10.1177/21695172251387189

Benzhu Guo,Zeang Zhao,Zhong Zhang,Hongshuai Lei

{"title":"Selective Variable Stiffness Flexible Manipulator for Dexterous In-Hand Manipulation.","authors":"Benzhu Guo,Zeang Zhao,Zhong Zhang,Hongshuai Lei","doi":"10.1177/21695172251387189","DOIUrl":"https://doi.org/10.1177/21695172251387189","url":null,"abstract":"Adaptive grasping and dexterous manipulation of random objects in unstructured environments have broad practical significance. Compared with traditional rigid manipulators, flexible manipulators possess better adaptability and safety, and thus are widely used in industrial, agricultural, and medical fields. However, since flexible manipulators are typically made of soft materials, their stability and dexterity are always limited. To make up for the deficiencies of existing flexible manipulators, this research proposes a variable stiffness flexible element driven by rope and evaluates its performance by finite element simulation and experimental methods. Based on the Fin Ray Effect, the flexible element is then assembled into a novel adaptive flexible manipulator, which can selectively regulate its local stiffness by driving a set of ropes. The flexible manipulator not only has multiple contact modes but also has good self-adaptability when interacting with the external environment. We also establish an integrated experimental platform and control system for in-hand manipulation and conduct quantitative in-hand manipulation experiments to obtain the mapping relationship between the driving input and the displacement of manipulated objects. Finally, we apply the flexible manipulator to daily charging tasks where the charging head can be rotated on demand. The manipulator has a broad application potential in real-world scenarios such as smart homes. In addition, the selective stiffness regulation methods proposed in this study provide a new approach to enhancing the multi-functionality of soft robotic structures.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"1 1","pages":""},"PeriodicalIF":7.9,"publicationDate":"2025-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145284001","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Far-Field Magnetic Sensing on Soft Origami Actuator for Spatial Multidimensional Movement and Force Perception. 软折纸驱动器空间多维运动与力感知远场磁传感。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2025-10-07 DOI: 10.1177/21695172251379615

Juan Yi,Jiahao Xu,Yuxuan Deng,Yifan Xuan,Chaoyi Huang,Zhonggui Fang,Benkang Lou,Kehan Zou,Yinyin Su,Qinlin Tan,Rongwei Wen,Sicong Liu,Zheng Wang

{"title":"Far-Field Magnetic Sensing on Soft Origami Actuator for Spatial Multidimensional Movement and Force Perception.","authors":"Juan Yi,Jiahao Xu,Yuxuan Deng,Yifan Xuan,Chaoyi Huang,Zhonggui Fang,Benkang Lou,Kehan Zou,Yinyin Su,Qinlin Tan,Rongwei Wen,Sicong Liu,Zheng Wang","doi":"10.1177/21695172251379615","DOIUrl":"https://doi.org/10.1177/21695172251379615","url":null,"abstract":"Soft robots exhibit exceptional flexibility and adaptability, enabling them to dynamically adjust their body shapes in unstructured environments for a wide range of applications. This motivates an extensive investigation of soft sensing techniques to accommodate such versatility. Magnetic sensing mechanisms present promising adaptability for soft robots due to their ease of integration and extensive detection range features. In this study, we explore the potential of utilizing far-field magnetic sensing in combination with a soft actuator model-based approach for multimodal perception. We introduce a Soft Farfield Magnetic Origami design, which incorporates a concise Hall sensory array into soft pneumatic origami actuators. The Hall sensory array is utilized to track the unique distal position of the soft actuator. This facilitates the further retrieval of spatial multidimensional movements, including linear and omnidirectional bending motions, as well as interactive forces. This multimodal sensing capability is supported by the modeled relationships between the desired sensing modalities and the measurable set of soft origami actuators, in terms of distal position and pressure. Our proposed approach showcases accurate spatial kinematic perception with a root-mean-square deviation of 0.36 mm in length, 0.02 rad in angle, and an interactive force variation detection with a root-mean-square deviation of 0.89 N. This comprehensive methodology from concept, modeling, design, and fabrication, to validation, facilitates position feedback control and interactive force tuning in soft robotic systems.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"11 1","pages":""},"PeriodicalIF":7.9,"publicationDate":"2025-10-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145240904","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Enabling Tunable Stiffness, Adhesive Grasping, and Interaction-Driven Reconfiguration: A Shape-Memory-Polymer-Enhanced Fin-Ray Gripper. 实现可调刚度，粘合剂抓取和相互作用驱动的重新配置：形状记忆聚合物增强鳍-射线夹持器。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2025-10-06 DOI: 10.1177/21695172251381461

Haotian Guo,Hao Wu,Yanzhe Wang,Yaoting Xue,Tuck-Whye Wong,Tiefeng Li,Huixu Dong

{"title":"Enabling Tunable Stiffness, Adhesive Grasping, and Interaction-Driven Reconfiguration: A Shape-Memory-Polymer-Enhanced Fin-Ray Gripper.","authors":"Haotian Guo,Hao Wu,Yanzhe Wang,Yaoting Xue,Tuck-Whye Wong,Tiefeng Li,Huixu Dong","doi":"10.1177/21695172251381461","DOIUrl":"https://doi.org/10.1177/21695172251381461","url":null,"abstract":"Soft grippers offer a compelling solution for handling tasks in diverse environments due to their inherent safety and adaptability. However, enhancing their versatility, particularly in load capacity and grasping range, while minimizing actuation, remains a persistent challenge. To address this, we propose a soft gripper with reconfigurable morphology, combining structure (Fin Ray Effect [FRE] gripper), and intelligent material (shape memory polymers [SMPs]) as a union, to achieve tunable stiffness, adhesive grasping, and interaction-driven reconfiguration. First, SMPs are integrated into both the front and back beams of the FRE fingers, enabling adhesion grasping and grasping force modulation through phase transition, respectively. Additionally, by leveraging its shape-locking capabilities through intentional environmental interactions, the gripper achieves versatile reconfiguration with a single motor. Besides, inspired by humans interacting with tools and grasping in constrained spaces, we demonstrate three extra grasping modes, including precision pinching, hooking, and corner grasping. Experimental results validate its ability to handle diverse objects, from thin sheets and small nuts to items up to 50 times its own weight. This passive reconfigurable design allows for effective handling of disparate surfaces and contours, guaranteeing safe grasping in constrained spaces. This work opens new possibilities for soft robotic hands, balancing system simplicity with versatility for a wider range of real-world applications.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"26 1","pages":""},"PeriodicalIF":7.9,"publicationDate":"2025-10-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145229260","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Soft Amphibious Turtle Robot with Flexibility and Omnidirectional Motion Ability Actuated by Multiple Bionic Muscles. 一种由多块仿生肌肉驱动的具有柔性和全方位运动能力的两栖乌龟机器人。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2025-09-30 DOI: 10.1177/21695172251383927

Yiwei Zhang,Ruiqian Wang,Lianchao Yang,Hengshen Qin,Qi Zhang,Ning Li,Ying Zhao,Lianqing Liu,Chuang Zhang

{"title":"A Soft Amphibious Turtle Robot with Flexibility and Omnidirectional Motion Ability Actuated by Multiple Bionic Muscles.","authors":"Yiwei Zhang,Ruiqian Wang,Lianchao Yang,Hengshen Qin,Qi Zhang,Ning Li,Ying Zhao,Lianqing Liu,Chuang Zhang","doi":"10.1177/21695172251383927","DOIUrl":"https://doi.org/10.1177/21695172251383927","url":null,"abstract":"Amphibious robots have great application potential in many unstructured task scenarios, such as environmental monitoring, resource exploration, and maritime rescue, due to their cross-medium movement capabilities and adaptability to multiple environments. As a typical representative of amphibians, sea turtles can not only crawl on land but also have excellent underwater movement ability, which is an important source of inspiration for amphibious bionic robots. However, due to a lack of high-performance soft actuators, suitable bionic structure designs, and effective control methods, most of the current bionic turtle robots actuated by smart materials can only demonstrate movement in a single medium (e.g., swimming in water or crawling on land). Here, an amphibious turtle robot actuated by bionic muscles that can achieve effective movements in two media was designed. To enhance the amphibious ability of the turtle robot, a cylindrical dielectric elastomer actuator that can adapt to a variety of environments is designed with a maximum bidirectional deformation (±65°) and a high output force (∼80 mN). By optimizing the motion trajectory of the fins and programming the phase control of multiple bionic muscles, the robot's maximum swimming speed reaches 0.4 BL/s. In addition, the robot can realize different motion modes, such as forward, backward, lateral movement, turning, and crawling. Finally, the high mobility and environmental adaptability of the turtle robot are demonstrated in an L-shaped swimming passage and in two mediums (transition from land to water). This work not only improves the motion ability of bionic amphibious robots but is also useful for the motion control of other bionic robots with multiple actuators.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"7 1","pages":""},"PeriodicalIF":7.9,"publicationDate":"2025-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145194841","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Fin-A-Rays: Expanding Soft Gripper Compliance via Discrete Arrays of Flexible Structures. 鳍- a -射线：通过离散阵列柔性结构扩展软夹持器顺应性。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2025-09-24 DOI: 10.1177/21695172251379600

Loong Yi Lee,Silvia Terrile,Saekwang Nam,Tianhao Liang,Nathan Lepora,Jonathan Rossiter

{"title":"Fin-A-Rays: Expanding Soft Gripper Compliance via Discrete Arrays of Flexible Structures.","authors":"Loong Yi Lee,Silvia Terrile,Saekwang Nam,Tianhao Liang,Nathan Lepora,Jonathan Rossiter","doi":"10.1177/21695172251379600","DOIUrl":"https://doi.org/10.1177/21695172251379600","url":null,"abstract":"Typical soft robot grippers use a small number of \"fingers,\" often inspired by human hands, limiting adaptability to objects. One way to increase the number of digits in the end effector is through arrays of independent flexible structures, quantizing the gripper and increasing compliance. This work investigates what happens when we \"slice\" a Fin Ray soft gripper into an array of discrete fingers, called Fin-A-Rays. Fin-A-Rays are modular gripper systems that can be readily integrated into an off-the-shelf two-fingered parallel gripper. Here, between one and 24 Fin Ray fingers of width 2.5 mm to 60 mm are arranged side-by-side as a gripper. An analysis of the effects of finger width on gripper stiffness and object contact is presented via finite element analysis. The design space of Fin-A-Rays was studied via experiments and simulation, and a set of performance metrics for Fin-A-Rays was defined to understand the effects of \"slicing\" on grasping a set of objects. A design algorithm is also introduced to prearrange a Fin-A-Ray configuration based on an image of the object. The discretized compliance across an array of fingers in a Fin-A-Ray enables several novel behaviors during grasping, including finger splay and twisting. Results show that a balance between finger widths is required when slicing Fin-A-Rays, where algorithmically designed Fin-A-Rays showed higher average performance metrics than uniform configurations. Fin-A-Rays showed new capabilities, including multiobject grasping and in-hand manipulation. The passive morphological adaptability of Fin-A-Rays simplifies grasp planning, enabling delicate grasps for picking and packing complex shapes.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"12 1","pages":""},"PeriodicalIF":7.9,"publicationDate":"2025-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145133926","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Variable Stiffness Woven Soft Active Textiles and Robots Using Thin McKibben Muscle. 可变刚度编织软活动纺织品和使用薄麦基本肌的机器人。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2025-09-18 DOI: 10.1177/21695172251379609

Haili Li,Bin Li,Pan Zhou,Zhaoyi Lin,Xingzhi Li,Jiantao Yao

{"title":"Variable Stiffness Woven Soft Active Textiles and Robots Using Thin McKibben Muscle.","authors":"Haili Li,Bin Li,Pan Zhou,Zhaoyi Lin,Xingzhi Li,Jiantao Yao","doi":"10.1177/21695172251379609","DOIUrl":"https://doi.org/10.1177/21695172251379609","url":null,"abstract":"Active woven structures are extensively utilized in wearable and soft robotics due to their exceptional body compliance, lightweight nature, long-term stability, and programmable architectures. Although existing active woven structures have been successfully applied to actuators and sensors, the fabrication of intricate variable stiffness soft robots directly through weaving methods has consistently posed challenges. To address this issue, we draw inspiration from the Chinese knot technique and employ thin McKibben muscles to weave a variety of variable stiffness textiles, including a flexible spine, flexible skin, and a bistable structure, as well as innovative soft robots such as a soft crawling robot, a soft enclosed gripper, and a continuum module. Experimental results demonstrate that the variable stiffness range of the developed variable stiffness textiles exceeds 5.4 times that of the initial stiffness. Furthermore, we also experimentally demonstrate that the woven soft crawling robot (weighing 171 g) can achieve omnidirectional movement on an ferromagnetic surface at a maximum speed of 666.7 mm/min; the woven continuum module (weighing 49 g) can reduce the impact of external forces on the motion angle by over 65% by activating the high stiffness mode; the soft enclosed gripper (weighing 175 g) can lift objects weighing up to 14.7 kg, and the variable stiffness function can enhance its multi-directional bearing capacity by ∼3.3 times. This study offers various new configurations and ideas for the advancement of complex variable stiffness soft robots based on weaving technology.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"11 1","pages":""},"PeriodicalIF":7.9,"publicationDate":"2025-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145083523","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Bioinspired Vacuum Generation via Pressure-to-Vacuum Conversion for Manipulating all Phases of Matter. 生物启发真空产生通过压力到真空转换操纵物质的所有阶段。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2025-09-10 DOI: 10.1177/21695172251362668

Ragesh Chellattoan,Alessio Mondini,Barbara Mazzolai

{"title":"Bioinspired Vacuum Generation via Pressure-to-Vacuum Conversion for Manipulating all Phases of Matter.","authors":"Ragesh Chellattoan,Alessio Mondini,Barbara Mazzolai","doi":"10.1177/21695172251362668","DOIUrl":"https://doi.org/10.1177/21695172251362668","url":null,"abstract":"Animal diaphragm-lung systems are soft organs that generate a controllable vacuum. Elephants, as rare land animals, can manipulate all three states of matter using their lung-generated vacuum. In soft robotics, however, current vacuum generation relies on rigid components, and no single soft device effectively handles all states of matter. Traditional soft pumps and grippers are limited in scope: soft pumps provide continuous liquid flow but cannot directly manipulate solids, while grippers manage solids but are ineffective with liquids and gases. Inspired by lung functionality, we present a soft pressure-to-vacuum converter that provides precise control over the suction, holding, and release of solids, liquids, and gases through a single entry and exit point based on negative pressure. Through the selection of appropriate material properties and design variations, our soft device achieves vacuum levels up to -18 kPa, enabling intermittent control and sequential handling of various media without the need for additional components. We demonstrate diverse applications of our soft device, including artificial lungs, liquid blending, vacuum gripping, coffee preparation, and liquid-gas vaporization. This bioinspired device not only provides a safe and adaptable solution for vacuum generation but also addresses a critical gap in soft robotics, offering a multifunctional system capable of manipulating all states of matter.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"19 1","pages":""},"PeriodicalIF":7.9,"publicationDate":"2025-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145031966","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Soft Robotics for Space Applications: Cryogenic Performance of Modular Metallic Cable Structures. 空间应用软体机器人：模组金属缆索结构的低温性能。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2025-09-10 DOI: 10.1177/21695172251364758

William Foster-Hall,David J Harvey,Ling Yin,Rini Akmeliawati

{"title":"Soft Robotics for Space Applications: Cryogenic Performance of Modular Metallic Cable Structures.","authors":"William Foster-Hall,David J Harvey,Ling Yin,Rini Akmeliawati","doi":"10.1177/21695172251364758","DOIUrl":"https://doi.org/10.1177/21695172251364758","url":null,"abstract":"Soft robotic systems are promising for diverse space applications due to their embedded compliance, promising locomotion methods, and efficient use of mass and volume. Space environments are harsher and more varied than those on Earth; extreme temperature, pressure, and radiation may impact the performance and robustness of soft robots. Cryogenic temperatures on celestial bodies such as the Moon or Europa pose significant challenges to the flexibility and actuation performance of conventional soft systems. We present a soft robotic design methodology using novel metallic-based soft robotic structures specifically tailored to extreme space environments. Structures are presented as tunable, reconfigurable modules for soft systems. Module behavior under compression is characterized while submerged in liquid nitrogen, and structural changes are investigated using scanning electron microscopy (SEM). The structures retained flexibility at -196 °C, with a limited 5% increase in peak stiffness over 100 cycles while maintaining a full range of motion. A soft robotic limb was constructed from these modules and demonstrated successful 2D manipulation and grasping of objects at -196 °C. SEM analysis showed no physical signs of microfracture or deformation after cryogenic cycling, indicating changes to the underlying grain structure consistent with properties observed in cold-working stainless steels at cryogenic temperatures in the literature. Our findings demonstrate that metallic soft robotic structures maintain flexibility and exhibit promising performance in cryogenic, analogue space environments. This metal-based cable structure design approach provides a foundation for the development of functional, robust, and reconfigurable soft robots capable of operating in extreme space environments.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"31 1","pages":""},"PeriodicalIF":7.9,"publicationDate":"2025-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145031965","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Multimodal Pressure-Actuated System Toward Adaptive Anchoring Within Complex Human Lumen. 复杂人体腔内自适应锚定的多模态压力驱动系统。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2025-08-12 DOI: 10.1177/21695172251364193

Hao Liu,Yuchen Tang,Chongyang Wang,Yongming Yang,Mengyuan Liu,Lianqing Liu

引用次数: 0

Simultaneous Locomotion with Stiffness Perception of an Earthworm-Like Robot in a Soft Tubular Environment. 软管环境中具有刚度感知的类蚯蚓机器人同步运动。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2025-07-18 DOI: 10.1177/21695172251360906

Xuyang Ren,Tianle Pan,Yichong Sun,Wing Yin Ng,Philip Wai Yan Chiu,Zheng Li

{"title":"Simultaneous Locomotion with Stiffness Perception of an Earthworm-Like Robot in a Soft Tubular Environment.","authors":"Xuyang Ren,Tianle Pan,Yichong Sun,Wing Yin Ng,Philip Wai Yan Chiu,Zheng Li","doi":"10.1177/21695172251360906","DOIUrl":"https://doi.org/10.1177/21695172251360906","url":null,"abstract":"Robots are frequently employed for navigation and detection tasks within tubular environments. However, when operating in soft tubular environments, they face significant challenges. The inherent instability of these structures can impede a robot's locomotion, and their soft tissues might be damaged by the interaction with robots. This study proposes a real-time stiffness perception system in soft tubular environments (e.g., colonic lumen) based on the earthworm-like movement to realize locomotion and detection simultaneously. The proposed soft robot features a central actuator (CA) for axial elongation and contraction, along with two auxiliary anchoring actuators positioned at the front and rear ends (FAA and RAA) to prevent backward slippage during locomotion. Notably, FAA is equipped with a perception mechanism capable of detecting the stiffness of the tubular environment through its interaction during inflation. The analytical modeling for CA's axial elongation, as well as the interaction between FAA and the surrounding tubular environment, has been developed and validated through experimental studies. Furthermore, the overall evaluation is conducted in two distinct tubes with: (1) uniform wall thickness but varied elastic moduli and (2) uniform elastic modulus but varied wall thicknesses. The successful locomotion and accurate perception confirm the capability and efficiency of the robot. In conclusion, the proposed robot system exhibits promising applications for locomotion and simultaneous stiffness detection in medical diagnostics and other fields where simultaneous locomotion and stiffness detection are crucial.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"24 1","pages":""},"PeriodicalIF":7.9,"publicationDate":"2025-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144664187","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0