The robotic hands can be divided into two major groups: fully-actuated and underactuated hands. In fully-actuated hands all the joints have separate motors, while in underactuated hands the number of motors is less than number of degrees of freedom. The underactuated hands can adapt to the object shape by use of their mechanical design while they have less functionality. A relationship between ...

Particle-based magnetically actuated microswimmers have the potential to act as microrobotic tools for biomedical applications. In this paper, we report the dynamic behaviors of a three-particle paramagnetic microswimmer. Actuated by a rotating magnetic field with different frequencies, the microswimmer exhibits simple rotation and propulsion. When the input frequency is below 8 Hz, it exhibits...

Biologically inspired pressure actuated cellular structures can alter their shape through pressure variations. Previous work introduced a computational framework for pressure actuated cellular structures that is limited to two cell rows and central cell corner hinges. This article rigorously extends these results by taking into account an arbitrary number of cell rows, a more complicated cell k...

One approach in the field of legged locomotion is to use theoretical models and analysis to provide basic knowledge [1]. One particular group of these models with rotary hip torque and radial leg damping has demonstrated a greater degree of robust stability and biological relevance. The previously developed Clock Torqued Spring-Loaded Inverted Pendulum [3] and Torque-Actuated Dissipative Spring...

A wireless microvalve would have a wide range of applications, including biomedical applications such as fertility control and nano-litre drug delivery. Arguably the most important aspect for such a device is a secure method to actuate the valve, such that it is not actuated through the spectrum of electromagnetic radiation already present in the surrounding environment. Additionally, many of t...

This paper presents a coordinate-invariant differential geometric analysis of manipulability for closed kinematic chains containing active and passive joints. The formulation treats both redundant and nonredundant mechanisms, as well as over-actuated and exactly actuated ones, in a uniform manner. Dynamic characteristics of the mechanism and manipulated object can also be naturally included by ...