Continuum robots have become more popular recently due to their scalable dexterity and
mobility. However, they may suffer from issues like insufficient stiffness because they are …

Soft robots have unique advantages over traditional rigid robots and have broad application
prospects in many fields, such as pipe inspections. Several of the reported pipe-crawling soft …

Compliant grasping is crucial for secure handling objects not only vary in shapes but also in
mechanical properties. We propose a novel soft robotic gripper with decoupled stiffness and …

It is of great importance to improve the performance of soft bending actuators with simpler
control laws. Considering that the velocity information of soft actuators cannot be measured …

Current models of bending in soft arms are formulated in terms of experimentally
determined, arm-specific parameters, which cannot evaluate fundamental differences in soft …

The continuum robot is a bionic robot with infinite freedom and adaptability to unstructured
environments. This paper creates a flexible continuum robot using origami and mortise …

Variable stiffness robots may provide an effective way of trading-off between safety and
speed during physical human–robot interaction. In such a compromise, the impact force …

Snake robots are characterized by their ability to navigate through small spaces and loose
terrain by utilizing efficient cyclic forms of locomotion. Soft snake robots are a subset of these …

In this paper, the modeling, control design, and trajectory planning for inherently safe robots
with variable stiffness links (VSL) are investigated. Firstly, a dynamic model of VSL robots is …

Pneumatic artificial muscles (PAMs) have been exploited in robots utilized in various fields,
including industry and medicine, due to their numerous advantages, such as their light …