This paper proposes a novel adaptive robust enhanced time-delay impedance controller (ARETDIC) based on the Hunt–Crossley (HC) model. The proposed ARETDIC is used to precisely control force/position for cell puncture devices operating within a soft interaction environment. Firstly, the impedance model is formulated utilizing the HC model, followed by a comprehensive discussion of its steady-state performance. To attain the target impedance, a new integral terminal sliding mode manifold is proposed by constructing an intermediate variable. Subsequently, the traditional time-delay control framework is enhanced by compensating for the well-known time-delay error using time-delay information from the previous time step. Furthermore, a new adaptive robust term is introduced to ensure the system's robustness against lumped disturbances. The stability of the proposed ARETDIC is proven using the Lyapunov theory. Finally, the superiority and effectiveness of the proposed ARETDIC are verified by experiments. The results indicate that the proposed ARETDIC achieves the best control performance compared to the other three benchmark controllers, successfully completing the cell puncture task

This paper presents an open-source untethered quadrupedal soft robot platform for dynamic locomotion (e.g., high-speed running and backflipping). The robot is mostly soft (80 vol.%) while driven by four geared servo motors. The robot’s soft body and soft legs were 3D printed with gyroid infill using a flexible material, enabling it to conform to the environment and passively stabilize during locomotion in multi-terrain environments. In addition, we simulated the robot in a real-time soft body simulation. With tuned gaits in simulation, the real robot can locomote at a speed of 0.9 m/s (2.5 body length/second), substantially faster than most untethered legged soft robots published to date. We hope this platform, along with its verified simulator, can catalyze agile soft robots' development.

Named Data Networking (NDN) is a content-centric networking, where the publisher of the packet signs and encapsulates the data packet with a name-content-signature encryption to verify the authenticity and integrity of itself. This scheme can solve many of the security issues inherently compared to IP networking. NDN also support mobility since it hides the point-to-point connection details. However, an extreme attack takes place when an NDN consumer newly connects to a network. A Man-in-the-middle (MITM) malicious node can block the consumer and keep intercepting the interest packets sent out so as to fake the corresponding data packets signed with its own private key. Without knowledge and trust to the network, the NDN consumer can by no means perceive the attack and thus exposed to severe security and privacy hazard. In this paper, the N ame-Signature Lookup System (NSLS) and corresponding Name-Signature Lookup Protocol (NSLP) is introduced to verify packets with their registered genuine publisher even in an untrusted network with the help of embedded keys inside Network Interface Controller (NIC), by which attacks like MITM is eliminated. A theoretical analysis of comparing NSLS with existing security model is provided. Digest algorithm SHA-256 and signature algorithm RSA are used in the NSLP model without specific preference.