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 …

We describe a novel three-finger robot hand that has high resolution tactile sensing along
the entire length of each finger. The fingers are compliant, constructed with a soft shell …

The aim of this article is to propose a bio-inspired morphological classification for soft robots
based on an extended review process. The morphology of living beings that inspire soft …

We explore the idea of robotic mechanisms that can shift between soft and rigid states, with
the long-term goal of creating robots that marry the flexibility and robustness of soft robots …

Continuum robots have gained widespread popularity due to their inherent compliance and
flexibility, particularly their adjustable levels of stiffness for various application scenarios …

Incorporating both flexible and rigid components in robot designs offers a unique solution to
the limitations of traditional rigid robotics by enabling both compliance and strength. This …

We show how a variety of techniques from Computer Graphics can be leveraged to
intuitively control the shape (configuration) of arbitrary 3D Soft Robots in VR. Our pipeline …

How should we thread a single string through a set of tubes so that pulling the string taut self-
assembles the tubes into a desired graph? While prior work [ITCS 2024] solves this problem …

We propose an approach to reconfiguration: routing string through a collection of geometric
units so that pulling on different strings or groups of strings automatically (re-) arranges the …

The diverse set of traits that soft-rigid robots possess have the potential to be applied
towards a multitude of applications that require both strength and flexibility. This thesis looks …