Soft robotsoffer a host of benefits over traditional rigid robots, including inherent compliance
that lets them passively adapt to variable environments and operate safely around humans …

Soft pneumatic actuators (SPAs), due to their compliance and adaptiveness, are promising
solutions for manipulation. However, most SPAs have only simple motion modes and cannot …

The design and fabrication of soft robot hands is still a time-consuming and difficult process.
Advances in rapid prototy** have significantly accelerated the fabrication process while …

Conventional bending sensors mainly utilize electrical, chemical, or optical signals to control
the bending action of the soft pneumatic bending actuator. Recently, image processing …

Soft robotic hands are reliable for gras** objects of various shapes. However, they
perform poorly in the high-precision manipulation of grasped objects because the modeling …

Miniature soft robots present great potential in delicate manipulations due to their gentle
force, complaint structures, and flexible motions. Easy control and fast response make …

The ability of robotic grippers to not only grasp but also re-position and re-orient objects in-
hand is crucial for achieving versatile, general-purpose manipulation. While recent …

Further automation of agricultural tasks will require the development of new dexterous end-
effectors that are capable of directly interacting with soil and vegetation alongside human …

Ce travail de thèse propose une approche intégrée pour le développement de doigts
pneumatiques en silicone destinés à la manipulation dextre. Basée sur une démarche …

To improve the functionality of soft robots, many soft sensors have been developed to
measure the deformation of soft actuators. Many of them are glued inside or on the surface …