During abdominal palpation diagnosis, a medical practitioner would change the stiffness of
their fingers in order to improve the detection of hard nodules or abnormalities in soft tissue …

In this letter, we propose benefiting from load readings at the base of a continuum appendage
for real-time forward integration of Cosserat rod model with application in configuration …

Soft robots are known for their ability to comply and having superior extensibility. However,
one of the limitations of most of these robots is that they can stand only a limited amount of …

The stiffness of a soft robot with structural cavities can be regulated by controlling the pressure
of a fluid to render predictable changes in mechanical properties. When the soft robot …

Mammals like rats, who live in dark burrows, heavily depend on tactile perception obtained
through the vibrissal system to move through gaps and to discriminate textures. The …

Robotic phantoms enable advanced physical examination training before using human
patients. In this article, we present an abdominal phantom for palpation training with controllable …

This paper presents an architecture of a 2 Degrees of Freedom pneumatic robot which can
be used as a haptic interface. To improve the haptic rendering of this device, a nonlinear …

Several gaps persist in haptic device development due to the multifaceted nature of the sense
of touch. Existing gaps include challenges enhancing touch feedback fidelity, providing …

Robust mechanisms for slip resistance are an open challenge in legged locomotion. Animals
such as goats show impressive ability to resist slippage on cliffs. It is not fully known what …

Therapies for tissue repair and regeneration have remained sub-optimal, with limited
approaches investigated to improve their effectiveness, dynamic and control response. We …