Soft Robotics and Biodesign Lab

Soft neuroprosthetic hand

A soft neuroprosthetic hand providing simultaneous myoelectric control and tactile feedback.

Welcome to Gu Research Group

T
he SJTU Soft robotics and biodesign (SRB) lab focuses on design, manufacturing, modeling and control of new bioinspired, soft robots for safe, compatible and adaptive interactions with humans and environments. SRB Lab is part of Robotics Institute, School of Mechanical Engineering in Shanghai Jiao Tong University. Our current research interests include soft robotics, bioinspired robot design and motion control, smart materials actuators and sensors, and additive manufacturing with soft materials. Example applications include soft wearable rehabilitation robots for assisting and restoring the ability of the humans with the upper extremity weakness in activities of daily living, bioinspired robotic systems for grasping and manipulation, and soft sensing systems for human-robot interaction.

Recent Publication>>More

A soft neuroprosthetic hand providing simultaneous myoelectric control and tactile feedback, Nature Biomedical Engineering (2021)

Cutaneous ionogel mechanoreceptors for soft machines, physiological sensing, and amputee prostheses, Advanced Materials (2021)

Kinematic modeling and control of variable curvature soft continuum robots, IEEE/ASME Transactions on Mechatronics (2021)

High-force fabric-based pneumatic actuators with asymmetric chambers and interference-reinforced structure for soft wearable assistive gloves, IEEE Robotics and Automation Letters (2021)

Soft wall-climbing robots, Science Robotics (2018)

Modeling of viscoelastic electromechanical behavior in a soft dielectric elastomer actuator, IEEE Transactions on Robotics (2017)

A survey on dielectric elastomer actuators for soft robots, Bioinspiration & Biomimetics (2017)

Integrated soft ionotronic skin with stretchable and transparent hydrogel-elastomer ionic sensors for hand-motion monitoring, Soft Robotics (2019)

Analytical modeling and design of generalized pneu-net soft actuators with 3D deformations, Soft Robotics (2020)

High-precision tracking control of a soft dielectric elastomer actuator with inverse viscoelastic hysteresis compensation, IEEE/ASME Transactions on Mechatronics (2019)

Fast-Response, Stiffness-Tunable Soft Actuator by Hybrid Multimaterial 3D Printing, Advanced Functional Materials (2019)

Group Announcements>>More

[05/05/2022]
Our paper on kinematic modeling and characterization of soft parallel robots has been accepted for publication in the IEEE Transactions on Robotics (T-RO). Congratulations to Xinjia!

[20/02/2022]
Ningbin Zhang defended his Ph.D. thesis. Congratulations Dr. Zhang!

[06/11/2021]
Our paper on modeling and inverse design of multi-segment pneu-net soft manipulators has been accepted for publication in the Applied Physics Reviews (IF: 19.162). Congratulations to Chengru and Dong!

[12/10/2021]
Our paper on Synergistic control of soft robotic hands has been accepted for publication in the Science China Technological Sciences. Congratulations to Ningbin!

[19/09/2021]
Our paper on inchworm inspired multimodal soft robots has been accepted for publication in the IEEE Transactions on Robotics (T-RO). Congratulations to Yifan and Dezhi!

[16/08/2021]
Our paper on soft neuroprosthetic hand has been online for publication in the Nature Biomedical Engineering. Congratulations to Ningbin and all collaborators at SJTU and MIT!

[02/06/2021]
Our paper on cutaneous ionogel mechanoreceptors has been accepted for publication in the Advanced Materials. Congratulations to Zequn!

[15/03/2021]
Our paper on multi-material pneumatic soft actuators and robots has been accepted for publication in the Advanced Intelligent Systems. Congratulations to Yichi and Jiang!

[12/03/2021]
Our paper on muscle-fiber array inspired, multiple-mode, pneumatic artificial muscles has been accepted for publication in the National Science Review. Congratulations to Jiang!


Videos>>More

Soft neuroprosthetic hand


Cutaneous Ionogel Mechanoreceptors for Soft Machines and Prostheses


Soft wall-climbing robot


High-force fabric-based pneumatic actuators

Hyper-redundant snake robot