The four-pin gripper is an ideal end-effector to achieve form-closure grasps, which is
especially useful in scenarios where a stable grasp is necessary. In this article, we propose …

Multidirectional motion ability is a significant factor for crawling robots. Inspired by the
Kresling origami pattern, this work introduces a soft pneumatic actuator that can achieve a …

Flexible and deployable mechanisms play a vital role in robots. Integrating energy power
into these flexible mechanisms can largely improve power endurance and reduce the …

Origami, a paper folding art, has inspired engineering applications in various fields for
decades. It provides a simple approach to realize the transformation between simple 2D …

Soft pneumatic actuators providing infinite passive degrees of freedom are widely applied
for safe physical human–robot interaction and fulfilling the limitation of conventional rigid …

The tubular Miura-ori (TMO) structure has attracted much attention due to its excellent
folding capability and rich application diversity. However, the existing theoretical research …

There are significant demands to develop soft grippers capable of performing sophisticated
tasks such as grasping various types of unstructured objects. To facilitate the development of …

With the rapid development of origami technologies, worm-inspired robots have attracted a
great deal of attention due to their flexible locomotion characteristics. In the present work, we …

This study presents a methodology employing Iterative Learning Control (ILC) to enhance
the control performance of soft grippers equipped with multiple curvatures and variable …