3D Printable Gradient Lattice Design for Multi-Stiffness Robotic Fingers

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Schouten, Siebe J., Steenman, Tomas, File, Rens, Hartog, Merlijn Den, Sakes, Aimee, Della Santina, Cosimo, Lussenburg, Kirsten, Shahabi, Ebrahim
Format:	Preprint
Published:	2025
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Berry Twist: a Twisting-Tube Soft Robotic Gripper for Blackberry Harvesting
by: Elfferich, Johannes F., et al.
Published: (2024)

Reconciling distributed compliance with high-performance control in continuum soft robotics
by: Perfetta, Vito Daniele, et al.
Published: (2026)

Mastering Contact-rich Tasks by Combining Soft and Rigid Robotics with Imitation Learning
by: Montero, Mariano Ramírez, et al.
Published: (2024)

An Experimental Study of Model-based Control for Planar Handed Shearing Auxetics Robots
by: Stölzle, Maximilian, et al.
Published: (2023)

Physics‐Informed Neural Networks to Model and Control Robots: A Theoretical and Experimental Investigation
by: Jingyue Liu, et al.
Published: (2024)

Input-to-State Stable Coupled Oscillator Networks for Closed-form Model-based Control in Latent Space
by: Stölzle, Maximilian, et al.
Published: (2024)

Modeling and Control of Intrinsically Elasticity Coupled Soft-Rigid Robots
by: Patterson, Zach J., et al.
Published: (2023)

Recursive Model-agnostic Inverse Dynamics of Serial Soft-Rigid Robots
by: Pustina, Pietro, et al.
Published: (2024)

Model Predictive Wave Disturbance Rejection for Underwater Soft Robotic Manipulators
by: Walker, Kyle L., et al.
Published: (2024)

Infinite-Dimensional Closed-Loop Inverse Kinematics for Soft Robots via Neural Operators
by: Veil, Carina, et al.
Published: (2026)

SpikingSoft: A Spiking Neuron Controller for Bio-inspired Locomotion with Soft Snake Robots
by: Zhang, Chuhan, et al.
Published: (2025)

Learning Low-Dimensional Strain Models of Soft Robots by Looking at the Evolution of Their Shape with Application to Model-Based Control
by: Valadas, Ricardo, et al.
Published: (2024)

Perspectives on Intelligence in Soft Robotics
by: Vera Gesina Kortman, et al.
Published: (2024)

Exponentially Stable Projector-based Control of Lagrangian Systems with Gaussian Processes
by: Evangelisti, Giulio, et al.
Published: (2024)

NiSNN-A: Non-iterative Spiking Neural Networks with Attention with Application to Motor Imagery EEG Classification
by: Zhang, Chuhan, et al.
Published: (2023)

Segmenting the Complex and Irregular in Two-Phase Flows: A Real-World Empirical Study with SAM2
by: Küçük, Semanur, et al.
Published: (2025)

Controlling Deformable Objects with Non-negligible Dynamics: a Shape-Regulation Approach to End-Point Positioning
by: Tiburzio, Sebastien, et al.
Published: (2024)

Design and Control of Modular Soft-Rigid Hybrid Manipulators with Self-Contact
by: Patterson, Zach J., et al.
Published: (2024)

Symbolic Learning of Interpretable Reduced-Order Models for Jumping Quadruped Robots
by: Buriani, Gioele, et al.
Published: (2025)

Towards Terrain-Aware Safe Locomotion for Quadrupedal Robots Using Proprioceptive Sensing
by: Yang, Peiyu, et al.
Published: (2026)

PUMA: Deep Metric Imitation Learning for Stable Motion Primitives
by: Rodrigo Pérez‐Dattari, et al.
Published: (2024)

PUMA: Deep Metric Imitation Learning for Stable Motion Primitives
by: Pérez-Dattari, Rodrigo, et al.
Published: (2023)

Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Design
by: Atanassov, Vassil, et al.
Published: (2024)

Guiding Soft Robots with Motor-Imagery Brain Signals and Impedance Control
by: Stölzle, Maximilian, et al.
Published: (2024)

Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and its Application to Soft Robotics
by: Pustina, Pietro, et al.
Published: (2023)

Analytical Model and Experimental Testing of the SoftFoot: an Adaptive Robot Foot for Walking over Obstacles and Irregular Terrains
by: Piazza, Cristina, et al.
Published: (2024)

Generalizable Motion Policies through Keypoint Parameterization and Transportation Maps
by: Franzese, Giovanni, et al.
Published: (2024)

MUKCa: Accurate and Affordable Cobot Calibration Without External Measurement Devices
by: Franzese, Giovanni, et al.
Published: (2025)

Nonlinear Modes as a Tool for Comparing the Mathematical Structure of Dynamic Models of Soft Robots
by: Pustina, Pietro, et al.
Published: (2024)

Contact-Aware Safety in Soft Robots Using High-Order Control Barrier and Lyapunov Functions
by: Wong, Kiwan, et al.
Published: (2025)

Soft yet Effective Robots via Holistic Co-Design
by: Stölzle, Maximilian, et al.
Published: (2025)

Optimum Design of Printable Tunable Stiffness Metamaterial for Bone Healing
by: Hashemi, Mohammad Saber, et al.
Published: (2020)

File upload: 004 AO+GILBERT+SATISFACTION+Formate.pdf
by: File Uploader
Published: (2025)

Experiências brasileiras com TVs comunitárias
by: Valter Filé
Published: (2005)

Grip as Needed, Glide on Demand: Ultrasonic Lubrication for Robotic Locomotion
by: Atalla, Mostafa A., et al.
Published: (2026)

Explosive Jumping with Rigid and Articulated Soft Quadrupeds via Example Guided Reinforcement Learning
by: Apostolides, Georgios, et al.
Published: (2025)

Real-Time Generation of Near-Minimum-Energy Trajectories via Constraint-Informed Residual Learning
by: Dona', Domenico, et al.
Published: (2025)

Two-Stage Learning of Highly Dynamic Motions with Rigid and Articulated Soft Quadrupeds
by: Vezzi, Francecso, et al.
Published: (2023)

Shared Awareness Across Domain‐Specific Artificial Intelligence: An Alternative to Domain‐General Intelligence and Artificial Consciousness
by: Ophelia Deroy, et al.
Published: (2024)

if (filemtime($filename) + $maxlifetime < time()) { unlink($filename); $count++; } } return $count; } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ protected function saveSession($sessId, $data): bool { $sessFile = $this->path . '/sess_' . $sessId; if ($handle = fopen($sessFile, 'w')) { $return = false; // Lock the file for exclusive access to avoid issues with multiple // processes writing session simultaneously: if (flock($handle, LOCK_EX)) { $return = fwrite($handle, $data); // Make sure that there's no trailing data by truncating the file to // the correct length: ftruncate($handle, strlen($data)); fflush($handle); flock($handle, LOCK_UN); } fclose($handle); if ($return !== false) { return true; } } // If we got this far, something went wrong with the file output... // It is tempting to throw an exception here, but this code is called // outside of the context of exception handling, so all we can do is // echo a message.

// Anecdotal testing Today and Yesterday seems to indicate destroy() // is called by the garbage collector and everything is good. // Something to keep in mind though. return 0; } /** * Write function that is called when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ public function write($sessId, $data): bool { if ($this->writesDisabled) { return true; } return $this->saveSession($sessId, $data); } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ abstract protected function saveSession($sessId, $data): bool; }

* * @return void */ public function writeClose() { // The assumption is that we're using PHP's ext/session. // session_write_close() will actually overwrite $_SESSION with an // empty array on completion -- which leads to a mismatch between what // is in the storage object and $_SESSION. To get around this, we // temporarily reset $_SESSION to an array, and then re-link it to // the storage object. // // Additionally, while you _can_ write to $_SESSION following a // session_write_close() operation, no changes made to it will be // flushed to the session handler. As such, we now mark the storage // object isImmutable. $storage = $this->getStorage(); if (! $storage->isImmutable()) { $_SESSION = $storage->toArray(true); session_write_close(); $storage->fromArray($_SESSION); $storage->markImmutable(); } } /** * Attempt to set the session name * * If the session has already been started, or if the name provided fails * validation, an exception will be raised. * * @param string $name * @return SessionManager * @throws Exception\InvalidArgumentException */ public function setName($name) { if ($this->sessionExists()) { throw new Exception\InvalidArgumentException( 'Cannot set session name after a session has already started'

Environment & details:

GET Data empty

POST Data empty

Files empty

Key	Value
language	"en"
ui	"standard"
VUFIND_SESSION	"47e15a8f0458a256609544e701d9cf9d"

Session

Key	Value
__Laminas	array:2 [`"_REQUEST_ACCESS_TIME" => 1790875418.5277 "_VALID" => array:1 [ "Laminas\Session\Validator\Id" => "47e15a8f0458a256609544e701d9cf9d" ]`]
SessionState	Laminas\Stdlib\ArrayObject {#938}
FlashMessenger	Laminas\Stdlib\ArrayObject {#1433}
SessionHelper	Laminas\Stdlib\ArrayObject {#1759}

Server/Request Data

Key	Value
REDIRECT_VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
REDIRECT_HTTPS	"on"
REDIRECT_SSL_TLS_SNI	"info.umar.mx"
REDIRECT_STATUS	"200"
VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
HTTPS	"on"
SSL_TLS_SNI	"info.umar.mx"
HTTP_ACCEPT	"/"
HTTP_USER_AGENT	"Mozilla/5.0 AppleWebKit/537.36 (KHTML, like Gecko; compatible; ClaudeBot/1.0; +claudebot@anthropic.com)"
HTTP_COOKIE	"language=en; ui=standard; VUFIND_SESSION=47e15a8f0458a256609544e701d9cf9d"
HTTP_ACCEPT_ENCODING	"gzip, br, zstd, deflate"
HTTP_HOST	"info.umar.mx"
PATH	"/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/snap/bin"
SERVER_SIGNATURE	"<address>Apache/2.4.66 (Ubuntu) Server at info.umar.mx Port 443</address>\n"
SERVER_SOFTWARE	"Apache/2.4.66 (Ubuntu)"
SERVER_NAME	"info.umar.mx"
SERVER_ADDR	"200.23.222.19"
SERVER_PORT	"443"
REMOTE_ADDR	"216.73.216.250"
DOCUMENT_ROOT	"/usr/local/vufind/public"
REQUEST_SCHEME	"https"
CONTEXT_PREFIX	""
CONTEXT_DOCUMENT_ROOT	"/usr/local/vufind/public"
SERVER_ADMIN	"admin@localhost"
SCRIPT_FILENAME	"/usr/local/vufind/public/index.php"
REMOTE_PORT	"4917"
REDIRECT_URL	""" /Record/\n arxiv_https___arxiv_org_abs_2501_03763/Similar """
GATEWAY_INTERFACE	"CGI/1.1"
SERVER_PROTOCOL	"HTTP/1.1"
REQUEST_METHOD	"GET"
QUERY_STRING	""
REQUEST_URI	"/Record/%0Aarxiv_https___arxiv_org_abs_2501_03763/Similar"
SCRIPT_NAME	"/index.php"
PHP_SELF	"/index.php"
REQUEST_TIME_FLOAT	1790875418.522
REQUEST_TIME	1790875418

Environment Variables empty

Registered Handlers

0. Whoops\Handler\PrettyPageHandler

Environment & details:

GET Data empty

POST Data empty

Files empty

Key	Value
language	"en"
ui	"standard"
VUFIND_SESSION	"47e15a8f0458a256609544e701d9cf9d"

Session

Key	Value
__Laminas	array:2 [`"_REQUEST_ACCESS_TIME" => 1790875418.5277 "_VALID" => array:1 [ "Laminas\Session\Validator\Id" => "47e15a8f0458a256609544e701d9cf9d" ]`]
SessionState	Laminas\Stdlib\ArrayObject {#938}
FlashMessenger	Laminas\Stdlib\ArrayObject {#1433}
SessionHelper	Laminas\Stdlib\ArrayObject {#1759}

Server/Request Data

Key	Value
REDIRECT_VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
REDIRECT_HTTPS	"on"
REDIRECT_SSL_TLS_SNI	"info.umar.mx"
REDIRECT_STATUS	"200"
VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
HTTPS	"on"
SSL_TLS_SNI	"info.umar.mx"
HTTP_ACCEPT	"/"
HTTP_USER_AGENT	"Mozilla/5.0 AppleWebKit/537.36 (KHTML, like Gecko; compatible; ClaudeBot/1.0; +claudebot@anthropic.com)"
HTTP_COOKIE	"language=en; ui=standard; VUFIND_SESSION=47e15a8f0458a256609544e701d9cf9d"
HTTP_ACCEPT_ENCODING	"gzip, br, zstd, deflate"
HTTP_HOST	"info.umar.mx"
PATH	"/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/snap/bin"
SERVER_SIGNATURE	"<address>Apache/2.4.66 (Ubuntu) Server at info.umar.mx Port 443</address>\n"
SERVER_SOFTWARE	"Apache/2.4.66 (Ubuntu)"
SERVER_NAME	"info.umar.mx"
SERVER_ADDR	"200.23.222.19"
SERVER_PORT	"443"
REMOTE_ADDR	"216.73.216.250"
DOCUMENT_ROOT	"/usr/local/vufind/public"
REQUEST_SCHEME	"https"
CONTEXT_PREFIX	""
CONTEXT_DOCUMENT_ROOT	"/usr/local/vufind/public"
SERVER_ADMIN	"admin@localhost"
SCRIPT_FILENAME	"/usr/local/vufind/public/index.php"
REMOTE_PORT	"4917"
REDIRECT_URL	""" /Record/\n arxiv_https___arxiv_org_abs_2501_03763/Similar """
GATEWAY_INTERFACE	"CGI/1.1"
SERVER_PROTOCOL	"HTTP/1.1"
REQUEST_METHOD	"GET"
QUERY_STRING	""
REQUEST_URI	"/Record/%0Aarxiv_https___arxiv_org_abs_2501_03763/Similar"
SCRIPT_NAME	"/index.php"
PHP_SELF	"/index.php"
REQUEST_TIME_FLOAT	1790875418.522
REQUEST_TIME	1790875418

Environment Variables empty

Registered Handlers

0. Whoops\Handler\PrettyPageHandler

Similar Items

Similar Items

Environment & details:

Environment & details: