Publications
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OpenFish: Biomimetic design of a soft robotic fish for high speed locomotion
Author List: SC Van Den Berg, RBN Scharff, Z Rusák, J Wu Published in: HardwareX 12, e00320 We present OpenFish: an open source soft robotic fish which is optimized for speed and efficiency. The soft robotic fish uses a combination of an active and passive tail segment to accurately mimic…
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3D-printed biomimetic artificial muscles using soft actuators that contract and elongate
Author List: C De Pascali, GA Naselli, S Palagi, RBN Scharff, B Mazzolai Published in: Science Robotics 7 (68), eabn4155 Biomimetic machines able to integrate with natural and social environments will find ubiquitous applications, from biodiversity conservation to elderly daily care. Although artificial actuators have reached the contraction performances of…
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Rapid manufacturing of color-based emispherical soft tactile fingertips
Author List: RBN Scharff, DJ Boonstra, L Willemet, X Lin, M Wiertlewski Published in: 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft) Tactile sensing can provide access to information about the contact (i.e. slippage, surface feature, friction), which is out of reach of vision but crucial for manipulation. To…
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Color-based proprioception of soft actuators interacting with objects
Author list: Rob BN Scharff, Rens M Doornbusch, Eugeni L Doubrovski, Jun Wu, Jo MP Geraedts, Charlie CL Wang Published in: IEEE/ASME Transactions on Mechatronics Actuators using soft materials feature a large number of degrees of freedom. This tremendous flexibility allows a soft actuator to passively adapt its shape to…
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Reducing out-of-plane deformation of soft robotic actuators for stable grasping
Author list: Rob BN Scharff, Jun Wu, Jo MP Geraedts, Charlie CL Wang Published in: 2019 2nd IEEE international conference on soft robotics (RoboSoft) For grasping (unknown) objects, soft pneumatic actuators are primarily designed to bend towards a specific direction. Due to the flexibility of material and structure, soft actuators…