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Biomedical optical devices are widely used for clinical detection of various tissue anomalies. However, optical measurements have limited accuracy and traceability, partially owing to the lack of effective calibration methods that simulate the actual tissue conditions. To facilitate standardized calibration and performance evaluation of medical optical(More)
This paper describes the design, fabrication and locomotion of a starfish robot whose locomotion principle is derived from a starfish. The starfish robot has a number of tentacles or arms extending from its central body in the form of a disk, like the topology of a real starfish. The arm, which is a soft and composite structure (which we call the smart(More)
This paper presents a starfish-like robot with bionic soft body, multi-motion inspired by live starfishes. The structural design principle is based on the biological investigation. The robot prototype is fabricated with help of 3D printing model. By the locomotion principle and control strategy, the soft starfish-like robot is able to fulfill in crawling on(More)
Mollusks have a strong ability adapting to environment, many researchers have developed some soft robots mimicking the mollusks movements, but these soft robots usually have only one locomotion mode, which cannot effectively take into account the movement efficiency and the environment adaptability simultaneously. In this paper, we present a novel soft(More)
This paper presented a new hybrid linear actuator which has significant potential to achieve both large force and large displacement based on SMA wires and DC motors. There were one screw and two locking nuts used to accumulate the small displacements of SMA wire actuators. And the SMA wires were connected in parallel to enhance the force output. A system(More)
This paper proposes a novel and mechanically decoupled leg and wheel hybrid transformable robot called HyTRo-I that combines two mobility concepts. For example, while wheeled vehicles shares higher speed than legged and tracked machines on a flat ground, they have relatively lower degree of flexibility than the other two on irregular terrain. The HyTRo-I(More)
Many researchers have developed some soft robots which mimic the mollusks movements having power ability to interact with their environments, but these soft robots usually have only one locomotion mode, which cannot effectively take into account the movement efficiency and the environment adaptability simultaneously. This paper presents the design of a(More)
A novel legged robot based on hybrid-driven mechanism is proposed in this paper. With the hybrid-driven mechanism as its legs, the robot was designed to achieve high energy utilization efficiency for the unidirectional motion of the main actuators, and flexibility for the motion of the servo actuators. The hybrid-driven mechanism was analyzed with the goal(More)
The locomotion performances of a quadruped robot with compliant feet based on closed-chain mechanism legs are presented. The legs of this quadruped robot were made up of six-bar linkage mechanism with one degree of freedom. And a special foot trajectory could be gained through kinematic analysis and optimum design of the six-bar linkage mechanism. In order(More)