Publications | Wenci's Website

Electrical Impedance Tomographic Shape Sensing for Soft Robots

Sun, 29 Jan 2023 08:16:28 +0000

Reinforcement learning based CPG controller for a soft gastropod robot and its gaits comparison study

Sun, 24 Jul 2022 12:05:30 +0000

Learning-Based Approach for a Soft Assistive Robotic Arm to Achieve Simultaneous Position and Force Control

Sun, 24 Jul 2022 12:03:19 +0000

Design and Experimental Characterization of a Push-Pull Flexible Rod-Driven Soft-Bodied Robot

Sun, 24 Jul 2022 11:58:10 +0000

Simultaneous Elasticity Perception and Locomotion in Soft Tubular Environment with an Earthworm-like Soft Robot

Tue, 07 Sep 2021 12:08:52 +0000

Orientation Control of an Electromagnetically Actuated Soft-Tethered Colonoscope Based on 2OR Pseudo-Rigid-Body Model

Sun, 30 May 2021 12:12:56 +0000

Colorectal cancer (CRC) incidence has been steadily rising worldwide. Robotic colonoscopes provide new approaches to conduct colon inspection and treatment. This paper presented a novel electromagnetically actuated softtethered colonoscope to achieve precise and stable orientation control. An inflated balloon was designed to eliminate the unpredictable disturbance of the floating tether. A 2OR Pseudo- Rigid-Body (PRB) model of the soft tether was constructed to analyze the relationship between the tether deflection and applied force and torque. A closed-loop control framework was detailed with visual position feedback. Experiments were first conducted to validate the assumption of the PRB model and the efficacy of the magnetic field model. Then, trajectory tracking tasks and disturbance rejection tests were performed to validate the feasibility of the closed-loop control and developed system. Results show that the designed colonoscope was able to stably and accurately orient to the desired orientation under disturbance. The distal tip could quickly re-stabilize to the desired orientation even a large disturbance exists.

Design and Modeling of a Biomimetic Gastropod-like Soft Robot with Wet Adhesive Locomotion

Fri, 28 May 2021 12:09:21 +0000

Design and Preliminary Evaluation of an Electromagnetically Actuated Soft-Tethered Colonoscope

Thu, 04 Mar 2021 12:14:24 +0000

A Novel Biomimic Soft Snail Robot Aiming for Gastrointestinal (GI) Tract Inspection

Tue, 01 Dec 2020 12:08:52 +0000

Fabrication of High-resolution Stencil for Liquid Alloy patterning based on Shrinkable Film

Sun, 30 Jun 2019 09:25:01 +0000

Tactile sensor for magnitude and direction detection based on a liquid alloy droplet

Wed, 05 Jun 2019 15:50:24 +0000

Sandwiched Polyethylene Shrink Film Masking with Tunable Resolution and Shape for Liquid Alloy Patterning

Sun, 06 Jan 2019 00:00:00 +0000