All Outputs (3)

Design and control of a novel variable stiffness soft arm (2018)
Journal Article
Hao, L., Chaoqun, X., Giannaccini, M., Cheng, H., Zhang, Y., Nefti-Meziani, S., & Davis, S. (2018). Design and control of a novel variable stiffness soft arm. Advanced robotics : the international journal of the Robotics Society of Japan, 32(11), 605-622. https://doi.org/10.1080/01691864.2018.1476179

Soft robot arms possess such characteristics as light weight, simple structure and good adaptability to the environment, among others. On the other hand, robust control of soft robot arms presents many difficulties. Based on these reasons, this pap... Read More about Design and control of a novel variable stiffness soft arm.

Novel design of a soft lightweight pneumatic continuum robot arm with decoupled variable stiffness and positioning (2017)
Journal Article
Giannaccini, M., Xiang, C., Atyabi, A., Theodoridis, T., Nefti-Meziani, S., & Davis, S. (2018). Novel design of a soft lightweight pneumatic continuum robot arm with decoupled variable stiffness and positioning. Soft Robotics, 5(1), 54-70. https://doi.org/10.1089/soro.2016.0066

Soft robot arms possess unique capabilities when it comes to adaptability, flexibility and dexterity. In addition, soft systems that are pneumatically actuated can claim high power to weight ratio. One of the main drawbacks of pneumatically actuated... Read More about Novel design of a soft lightweight pneumatic continuum robot arm with decoupled variable stiffness and positioning.

Variable stiffness McKibben muscles with hydraulic and pneumatic operating modes (2016)
Journal Article
Xiang, C., Giannaccini, M., Theodoridis, T., Nefti-Meziani, S., & Davis, S. (2016). Variable stiffness McKibben muscles with hydraulic and pneumatic operating modes. Advanced robotics : the international journal of the Robotics Society of Japan, 30(13), 889-899. https://doi.org/10.1080/01691864.2016.1154801

McKibben muscles have been shown to have improved stiffness characteristics when operating hydraulically. However, when operating pneumatically they are compliant and so have potential for safer physical Human Robot Interaction (pHRI). This paper pre... Read More about Variable stiffness McKibben muscles with hydraulic and pneumatic operating modes.