Soft Robotics and Applications

Mesoscale Soft Robotics for Mechanically Perturbing and Functionally Monitoring Responses in Human Organoids

This paper introduces a mesoscale soft robotic interface to apply mechanical forces to human organoids and monitor their physiological responses, revealing distinct mechanical and electrophysiological behaviors in cortical and cardiac organoids.

Biohybrid toggle switches: leveraging bistability in muscle-actuated machines

This paper introduces a biohybrid bistable switching mechanism using skeletal muscle to achieve energy-efficient, reversible toggling between states, demonstrating its potential as an electromechanical switch in robotics.

Multimodal Alignment of MicroCT Imaging to Vibroacoustic Signals to Validate Soft Tissue Needle Transitions in Manduca sexta

This paper validates vibroacoustic signals during needle insertion in Manduca sexta by aligning them with microCT imaging to identify tissue transitions.

When Animals Turn Inside Out: The Eversion of Bloodworms

The paper studies how bloodworms evert their proboscis quickly and reliably, finding it can withstand higher pressures and strains than observed, and shows that animals like frogs and sharks do not follow Froude's law for eversion.

Context-dependent mechanical reconfiguration is necessary for multifunctional behavior in a constrained hydrostat

This paper shows how mechanical reconfiguration in the Aplysia buccal mass enables different protraction behaviors by altering muscle mechanics and shape.

Grip and grasp: lizard claw inspired robotic manipulators

This paper identifies optimal lizard claw morphologies for bioinspired robotic manipulators by analyzing geometric parameters that influence grip strength and stability.

Biohybrid tendons enhance the power-to-weight ratio and modularity of muscle-powered robots

This study designs biohybrid muscle-tendon units that improve power-to-weight ratio and modularity in muscle-powered robots by using engineered muscle and hydrogel tendons.

Physically intelligent insect-inspired antenna sensors enhance tactile feature perception by active touch

This study develops insect-inspired antenna sensors that improve tactile feature perception through mechanical design and active touch strategies, reducing computational costs.

Modular Assembly of Biohybrid Machines Using Force-Enhanced Skeletal Muscle Actuators

This study develops a suspended compliant skeleton to enhance muscle maturation and enables modular assembly of biohybrid actuators with high-force output and repairability.

Sundoli: A necro(w)bot with multi-stiffness joints built using geared mechanical metastructures

This paper designs and analyzes Sundoli, a necrobot with multi-stiffness joints using geared mechanical metastructures, demonstrating its ability to support high payload ratios through passive deformation.

Analytical model of the selective cutting mechanism used by ovipositors of sawflies

The paper develops an analytical model of the selective cutting mechanism in sawfly ovipositors, showing how blade geometry and substrate properties determine cutting behavior.

A novel bio-inspired passive selective cutting mechanism for cutting surgical tools and other material-selective applications

This paper identifies a passive selective cutting mechanism in sawflies and proposes its application in surgical tools for precise cutting with reduced collateral damage.

Steerable Tape-Spring Needle for Autonomous Sharp Turns Through Tissue

This paper introduces a steerable tape-spring needle capable of sharp turns through tissue, validated through experiments in tissue phantoms and demonstrating clinical application potential.

Reversible kink instability drives ultrafast jumping in nematodes and soft robots

This paper demonstrates that a reversible kink instability in nematodes enhances jumping performance and proposes a bio-inspired model for soft robots.

Ultra-fast physics-based modeling of the elephant trunk

This paper develops a physics-based model of the elephant trunk to predict its motion from muscle activation, revealing how specific muscle contractions enable task-specific movements.

Design and Technical Feasibility Testing of a Medical Robot for Flexible Catheter Navigation Inside the Lung Airways

This paper designs and tests a medical robot, RoboCath, for navigating flexible catheters in lung airways to reduce X-ray exposure during procedures.

Repetitive Learning Control for Body Caudal Undulation with Soft Sensory Feedback

This paper introduces a novel controller for soft swimming robots using repetitive learning estimation to improve trajectory tracking and control accuracy.