A review in on-body compression using soft actuators and sensors: Applications, mechanisms, and challenges

A Golgouneh, LE Dunne - IEEE Reviews in Biomedical …, 2022 - ieeexplore.ieee.org
Body compression through a garment or inflatable pneumatic mechanism has various
applications in aesthetic, athletic, robotics, haptics, astronautics, and especially medical …

[HTML][HTML] Improvement of PMSM sensorless control based on synergetic and sliding mode controllers using a reinforcement learning deep deterministic policy gradient …

M Nicola, CI Nicola, D Selișteanu - Energies, 2022 - mdpi.com
The field-oriented control (FOC) strategy of a permanent magnet synchronous motor
(PMSM) in a simplified form is based on PI-type controllers. In addition to their low …

Static shape control of soft continuum robots using deep visual inverse kinematic models

E Almanzor, F Ye, J Shi, TG Thuruthel… - IEEE Transactions …, 2023 - ieeexplore.ieee.org
Soft continuum robots are highly flexible and adaptable, making them ideal for unstructured
environments such as the human body and agriculture. However, their high compliance and …

Soft robots learn to crawl: Jointly optimizing design and control with sim-to-real transfer

C Schaff, A Sedal, MR Walter - arXiv preprint arXiv:2202.04575, 2022 - arxiv.org
This work provides a complete framework for the simulation, co-optimization, and sim-to-real
transfer of the design and control of soft legged robots. The compliance of soft robots …

Learning-based control strategies for soft robots: Theory, achievements, and future challenges

C Laschi, TG Thuruthel, F Lida… - IEEE Control …, 2023 - ieeexplore.ieee.org
In the last few decades, soft robotics technologies have challenged conventional
approaches by introducing new, compliant bodies to the world of rigid robots. These …

[HTML][HTML] Axis-space framework for cable-driven soft continuum robot control via reinforcement learning

D Wei, J Zhou, Y Zhu, J Ma, S Ma - Communications Engineering, 2023 - nature.com
Cable-driven soft continuum robots are important tools in minimally invasive surgery (MIS) to
reduce the lesions, pain and risk of infection. The feasibility of employing deep …

Hybrid gray and black-box nonlinear system identification of an elastomer joint flexible robotic manipulator

DHB de Sousa, FR Lopes, AWC do Lago… - … Systems and Signal …, 2023 - Elsevier
Abstract Series elastic actuators possess several properties that make them widely used in
collaborative robots, which play a major role in the current paradigm of industry 4.0 …

A provably stable iterative learning controller for continuum soft robots

M Pierallini, F Stella, F Angelini… - IEEE Robotics and …, 2023 - ieeexplore.ieee.org
Fully exploiting soft robots' capabilities requires devising strategies that can accurately
control their movements with the limited amount of control sources available. This task is …

Exploring Embodied Intelligence in Soft Robotics: A Review

Z Zhao, Q Wu, J Wang, B Zhang, C Zhong… - Biomimetics, 2024 - mdpi.com
Soft robotics is closely related to embodied intelligence in the joint exploration of the means
to achieve more natural and effective robotic behaviors via physical forms and intelligent …

Rl-based adaptive controller for high precision reaching in a soft robot arm

MS Nazeer, C Laschi, E Falotico - IEEE Transactions on …, 2024 - ieeexplore.ieee.org
High precision control of soft robots is challenging due to their stohcastic behavior and
material-dependent nature. While RL has been applied in soft robotics, achieving precision …