Soft pneumatic actuators are extensively used in soft robots, and their bending angles and kinematic rules at different pressures play a crucial role in practical applications. This investigation aims to model the bending angle and motion of a new ty...
The space-borne manipulator has been playing an important part in docking tasks. Docking collision can easily lead to instability of both the manipulator and floating base. Aiming at the problem of soft capture, a novel soft-contact joint with dual w...
Owing to their compliance with most shapes, soft actuators are regarded as cost-effective solutions for grasping irregular objects. The material properties of nonlinear elastic polymers are considered necessary for the correct implementation of these...
The Open Geospatial Consortium (OGC) Geography Markup Language (GML) explicitly represents geographical spatial knowledge in text mode. All kinds of fuzzy problems will inevitably be encountered in spatial knowledge expression. Especially for those e...
Soft data, such as seismic imagery, plays a critical role in subsurface modeling by providing indirect constraints away from hard data locations. However, validating whether subsurface model realizations honor this type of data remains a challenge du...
To address the issues of low model fitting accuracy and insufficient prediction capability caused by the multi-stage characteristics and batch-to-batch data distribution heterogeneity in the fermentation process of Pichia pastoris, this study propose...
Soft fingertips have distinct intrinsic features that allow robotic hands to offer adjustable and manageable stiffness for grasping. The stability of the grasp is determined by the contact stiffness between the soft fingertip and the object. Within t...
The modeling and simulation of biological tissue is the core part of a virtual surgery system. In this study, the geometric and physical methods related to soft tissue modeling were investigated. Regarding geometric modeling, the problem of repeated...
Hysteresis is a nonlinear phenomenon found in many physical systems, including soft viscoelastic actuators, where it poses significant challenges to their application and performance. Consequently, developing accurate hysteresis models is essential f...
In recent times, significant research has been carried out into developing and applying soft computing techniques for modeling hydro-climatic processes such as seepage modeling. It is necessary to properly model seepage, which creates groundwater sou...
In this paper, a novel 3D (three-dimensional) soft-landing dynamic theoretical model of a legged lander is developed in detail as well as its numerical solution process. The six degrees of freedom motion (6-DOF) of the base model of the lander with m...
Air quality models simulate the atmospheric environment systems and provide increased domain knowledge and reliable forecasting. They provide early warnings to the population and reduce the number of measuring stations. Due to the complexity and non-...
For decades, underwater vehicles have been performing underwater operations, which are critical to the development and upgrading of underwater robots. With the advancement of technology, various types of robots have been developed. The underwater rob...
Controlling soft robots is a significant challenge due to the nonlinear elastic nature of the soft materials that conform their structure. This paper studies the identification and control problems of a novel two-degrees-of-freedom, tendon-actuated,...
The modeling of soft structures, actuators, and sensors is challenging, primarily due to the high nonlinearities involved in such soft robotic systems. Finite element modeling (FEM) is an effective technique to represent soft and deformable robotic s...
Soft robots have gained popularity, especially in intraluminal applications, because their soft bodies make them safer for surgical interventions than flexures with rigid backbones. This study investigates a pressure-regulating stiffness tendon-drive...
The pelvis and its surrounding soft tissues create a complicated mechanical environment that greatly affects the success of fixing broken pelvic bones with surgical navigation systems and/or surgical robots. However, the modeling of the pelvic struct...
Unlike rigid actuators, soft actuators can easily adapt to complex environments. Understanding the relationship between the deformation of soft actuators and external factors such as pressure would enable rapid designs based on specific requirements,...
Scoliosis is an abnormality of the spinal curvature that severely affects the musculoskeletal, respiratory, and nervous systems. Conventionally, it is treated using rigid spinal braces. These braces are static, rigid, and passive in nature, and they...
Chronic total occlusion (CTO) is one of the most severe and sophisticated vascular stenosis because of complete blockage, greater operation difficulty, and lower procedural success rate. This study proposes a hydraulic-driven soft robot imitating the...
Soft robots that incorporate elastomeric matrices and flexible materials have gained attention for their unique capabilities, surpassing those of rigid robots, with increased degrees of freedom and movement. Research has highlighted the adaptability,...
The geometry of soft actuators significantly impacts their performance, including force generation, range of motion, and adaptability. Optimizing actuator geometry and material properties under specific constraints is crucial for achieving desired pe...
In this work, the position control of a cable-driven soft robot is proposed through the approximation of its kinematic model. This approximation is derived from artificial learning rules via neural networks and experimentally observed data. To improv...
Industrial production often involves complex time-varying operating conditions that result in continuous time-series production data. The traditional soft sensor approach has difficulty adjusting to such dynamic changes, which makes model performance...
The emergence of soft robots provides new opportunities for developing phosphorite processing equipment. In this article, a soft pneumatic gripper (SPG) for gripping phosphorites is designed. On this basis, the dynamic modeling method and hysteresis...
Soft pneumatic glove actuators for hand rehabilitation require compact, accurate models that can be evaluated in real time. At the same time, high-fidelity finite element (FE) simulations are too slow for iterative design and control. We develop a fi...
The grabbing of phosphorite rocks is an important process in the mining industry. Traditional grabbing technology based on rigid robots faces challenges such as heavy weight, low flexibility, and insufficient safety. This study presents the structura...
Soft arms, characterized by their compliance and adaptability, have gained significant attention in applications ranging from industrial automation to biomedical fields. Modeling these systems presents unique challenges due to their high degrees of f...
Soft sensors are used for fault detection and prediction of the process variables in chemical processing units, for which the online measurement is difficult. The present study addresses soft sensor design and identification for deactivation of zeoli...
Soft continuum robots, inspired by the adaptability and agility of natural soft-bodied organisms like octopuses and elephant trunks, present a frontier in robotics research. However, exploiting their full potential necessitates precise modeling and c...
With the ongoing advancements in material technology, the domain of soft robotics has garnered increasing attention. Soft robots, in contrast to their rigid counterparts, offer superior adaptability to the environment, enhanced flexibility, and impro...
Compared with rigid robots, soft robots have better adaptability to the environment because of their pliability. However, due to the lower structural stiffness of the soft manipulator, the posture of the manipulator is usually decided by the weight a...
Soft soils are commonly located in many regions near seas, oceans, and rivers all over the world. These regions are vital and attractive for population and governments development. Soft soil is classified as problematic soil owing to sustaining low s...
Modeling of soft robotics systems proves to be an extremely difficult task, due to the large deformation of the soft materials used to make such robots. Reliable and accurate models are necessary for the control task of these soft robots. In this pap...
Constructing subways in soft soil strata by shields may cause large displacement of ground and tunnels during and after construction. To evaluate the corresponding short-term and long-term displacement, this paper presented a three-dimensional numeri...
Soft robotics has emerged as a promising field due to the unique characteristics offered by compliant and flexible structures. Overcoming the challenge of precise position control is crucial in the development of such systems that require accurate mo...
Pile foundations are commonly used to support structures subjected to complex loading conditions. In seismic-prone regions, understanding the soil–pile interaction under cyclic loading is essential for ensuring the stability and safety of these...
This paper examines the stiffness degradation and interface failure load on soft soil–concrete interface. The friction behavior and its variability is investigated. The direct shear tests under constant normal load were used to establish parameters t...
This review article focuses on applying operation state detection and performance optimization techniques in industrial electrical systems. A comprehensive literature review was conducted using the preferred reporting items for systematic reviews and...
A novel multi-degree-of-freedom bionic Soft Pneumatic Actuator (SPA) inspired by the shoulder joint of a sea turtle is proposed. The SPA is mainly composed of a combination of oblique chamber actuator units capable of omnidirectional bending and bi-d...
We discuss an intermodal routing problem that aims to achieve comprehensive improvement in the economics, environmental sustainability, and timeliness of transportation. We formulate the consignee’s uncertain demand for goods to improve the rel...
We address the problem of machine learning of constitutive laws when large experimental deviations are present. This is particularly important in soft living tissue modeling, for instance, where large patient-dependent data is found. We focus on two...
The purpose of this study was to identify and explore the differences in pharmacokinetics between different nanoformulations. This was done by comparing the pharmacokinetics of methotrexate-loaded nanoparticles [poly(lactic-co-glycolic acid); size of...
This study addresses the critical issue of basal heave stability in deep excavations within Bangkok’s soft clay, particularly under conditions of confined groundwater recovery. Historical failures in excavation projects highlight the urgent nee...
As a result of the COVID-19 pandemic, business and consumer behavior towards online consumption and digital payments has changed. This trend, although significant, may be observed, to a varying extent, among customers across the European Union. This...
Soft robotics is becoming an emerging solution to many of the problems in robotics, such as weight, cost and human interaction. In order to overcome such problems, bio-inspired designs have introduced new actuators, links and architectures. However,...
A new type of soft actuator was developed by using hydrogel materials and three-dimensional (3D) printing technology, attracting the attention of researchers in the soft robotics field. Due to parametric uncertainties of such actuators, which origina...
Soft robotics faces challenges in attaining control methods that ensure precision from hard-to-model actuators and sensors. This study focuses on closed-chain control of a segment of PAUL, a modular pneumatic soft arm, using elastomeric-based resisti...
This paper analyzes the impact of a single soft error on the performance of a synchronous and self-timed pipeline. A nuclear particle running through the integrated circuit body is considered the most probable soft error source. The existing estimate...
Generic polymer models capturing the chain connectivity and the non-bonded excluded-volume interactions between polymer segments can be classified into hard- and soft-core models depending on their non-bonded pair potential. Here we compared the corr...
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