Curriculum-reinforcement learning on simulation platform of tendon-driven high-degree of freedom underactuated manipulator.

A high degree of freedom (DOF) benefits manipulators by presenting various postures when reaching a target. Using a tendon-driven system with an underactuated structure can provide flexibility and weight reduction to such manipulators. The design and control of such a composite system are challenging owing to its complicated architecture and modeling difficulties.

A 3D printed hydrostatic skeleton for an earthworm-inspired soft burrowing robot.

Moving through soil is challenging for robots, particularly for soft robots. Herein, we propose a support structure, based on the hydrostatic skeleton of earthworms, to overcome this problem. To create extremely flexible, thin-walled, worm-sized deformed segments, a specialized 3D printer for low-hardness rubber was utilized.

Characterization of continuum robot arms under reinforcement learning and derived improvements.

In robotics, soft continuum robot arms are a promising prospect owing to their redundancy and passivity; however, no comprehensive study exists that examines their characteristics compared to rigid manipulators. In this study, we examined the advantages of a continuum robot arm as compared to a typical and rigid seven-degree-of-freedom (7-DoF) robot manipulator in terms of performing various tasks through reinforcement learning. We conducted simulations for tasks with different characteristics that require control over position and force.

Insect wing 3D printing.

Insects have acquired various types of wings over their course of evolution and have become the most successful terrestrial animals. Consequently, the essence of their excellent environmental adaptability and locomotive ability should be clarified; a simple and versatile method to artificially reproduce the complex structure and various functions of these innumerable types of wings is necessary. This study presents a simple integral forming method for an insect-wing-type composite structure by 3D printing wing frames directly onto thin films.

Blower-Powered Soft Inflatable Joints for Physical Human-Robot Interaction.

Inflatables are safe and lightweight structures even at the human scale. Inflatable robots are expected to be applied to physical human-robot interaction (pHRI). Although active joint mechanisms are essential for developing inflatable robots, the existing mechanisms are complex in structure and it is difficult to integrate actuators, which diminish the advantages of inflatables.

Earwig fan designing: Biomimetic and evolutionary biology applications.

Technologies to fold structures into compact shapes are required in multiple engineering applications. Earwigs (Dermaptera) fold their fanlike hind wings in a unique, highly sophisticated manner, granting them the most compact wing storage among all insects. The structural and material composition, in-flight reinforcement mechanisms, and bistable property of earwig wings have been previously studied.

Continuum Robotic Caterpillar with Wirelessly Powered Shape Memory Alloy Actuators.

Wireless power transfer (WPT) has the significant potential for soft-bodied continuum robots to extend the operational time limitlessly and reduce weight. However, rigid power receiver coils, widely used in WPT, hinder the continuum deformation of the robot, and as a result, the function realization using the continuum deformation (e.g.

Design of small-size pouch motors for rat gait rehabilitation device.

Recent studies have demonstrated that active gait training can recover voluntary locomotive ability of paralyzed rats. Rehabilitation devices used for studying spinal cord injury to date are usually fixed on a treadmill, but they have been used only slightly for active training. To process active rehabilitation, a wearable, lightweight device with adequate output is needed.