Foundation models (FM) have demonstrated remarkable performance across a wide range
of tasks (especially in the fields of natural language processing and computer vision) …

Soft robots show compliance and have infinite degrees of freedom. Thanks to these
properties, such robots can be leveraged for surgery, rehabilitation, biomimetics …

This paper introduces a novel design method that enhances the force/torque, bendability,
and controllability of soft pneumatic actuators (SPAs). The complex structure of the soft …

Accurately modeling soft robots remains a challenge due to their inherent nonlinear
behavior and parameter variations. This paper presents a novel approach to modeling soft …

The nonlinearity and hysteresis of soft robot motions have posed challenges in accurate soft
robot control. Neural networks, especially recurrent neural networks (RNNs), have been …

When a robot collides with environments of unknown stiffness, the resultant torque
saturation can cause the conventional admittance control to exhibit unsafe behaviors such …

In industrial settings, robotic tasks often require interaction with various objects,
necessitating compliant manipulation to prevent damage while accurately tracking reference …