2021
DOI: 10.3389/frobt.2021.645290
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Characterizing Continuous Manipulation Families for Dexterous Soft Robot Hands

Abstract: There has been an explosion of ideas in soft robotics over the past decade, resulting in unprecedented opportunities for end effector design. Soft robot hands offer benefits of low-cost, compliance, and customized design, with the promise of dexterity and robustness. The space of opportunities is vast and exciting. However, new tools are needed to understand the capabilities of such manipulators and to facilitate manipulation planning with soft manipulators that exhibit free-form deformations. To address this … Show more

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Cited by 3 publications
(1 citation statement)
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“…Like soft creatures, soft robots are composed of highly deformable materials 1 3 , thereby introducing several advantages over their rigid counterparts. For example, soft robots may deform to the contours of confined spaces and can exhibit continuous, multimodal deformations due to their flexibility, making them highly sought after for traversal of complex mechanical environments 4 9 . Additionally, soft materials are generally safer for human–machine interactions 10 and exhibit higher biocompatibility 11 , rendering them suitable for both in vivo and in vitro applications 12 .…”
Section: Introductionmentioning
confidence: 99%
“…Like soft creatures, soft robots are composed of highly deformable materials 1 3 , thereby introducing several advantages over their rigid counterparts. For example, soft robots may deform to the contours of confined spaces and can exhibit continuous, multimodal deformations due to their flexibility, making them highly sought after for traversal of complex mechanical environments 4 9 . Additionally, soft materials are generally safer for human–machine interactions 10 and exhibit higher biocompatibility 11 , rendering them suitable for both in vivo and in vitro applications 12 .…”
Section: Introductionmentioning
confidence: 99%