Miniature soft robots present great potential in delicate manipulations due to their gentle force, complaint structures, and flexible motions. Easy control and fast response make pneumatic actuation a prevalent method for driving soft robotics. In addition, sequential motions are also crucial for enhancing the grasping and moving abilities of soft robots. How-ever, existing miniature pneumatic soft robots are limited to one-dimensional geometries and simple motions due to the difficulties in designing and fabricating intricate small airways in miniature pneumatic soft robots, which restricts them from more versatile deformations. Here, we employ intricate monolithic microchannels embedded into miniature soft robots' mon-olithic bodies for sequential motions. After verifying the effects of the channel diameter, strain-limiting layer, and elastic modulus of the robot's body on the bending behaviors of the ID soft robots, we fabricated a soft flower robot capable of sequential and simultaneous 3D-to-3D shape morphing through five individual microchannels and a soft carnivorous plant robot containing 2D interconnected microchannels capable of sequential enclosed grasping through a single inlet.

Physicians perform minimally invasive percuta-neous procedures under Computed Tomography (CT) image guidance both for the diagnosis and treatment of numerous diseases. For these procedures performed within Computed Tomography Scanners, robots can enable physicians to more accurately target sub-dermal lesions while increasing safety. However, existing robots for this application have limited dexterity, workspace, or accuracy. This paper describes the design, manufacture, and performance of a highly dexterous, low-profile, 8+2 Degree-of-Freedom (DoF) robotic arm for CT guided percutaneous needle biopsy. In this article, we propose CRANE: CT Robot and Needle Emplacer. The design focuses on system dexterity with high accuracy: extending physicians' ability to manipulate and insert needles within the scanner bore while providing the high accuracy possible with a robot. We also propose and validate a system architecture and control scheme for low profile and highly accurate image-guided robotics, that meets the clinical requirements for target accuracy during an in-situ evaluation. The accuracy is additionally evaluated through a trajectory tracking evaluation resulting in$< \boldsymbol{0.2}\mathbf{mm}$and$<\boldsymbol{ 0.71}^{\circ}$tracking error. Finally, we present a novel needle driving and grasping mechanism with controlling electronics that provides simple manufacturing, sterilization, and adaptability to accom-modate different sizes and types of needles.

Haptic gloves allow the players to feel the virtual world more realistically by providing force feedback. At present, haptic gloves are mainly driven by conventional motors, and for them, being lightweight, low cost, low in power consumption, and intrinsically safe to operators are challenging. Here, we designed a haptic glove (So-EAGlove) integrating a flexible electrostatic adhesive brake to resist human fingers with a tunable braking force and render a softness sensation. This glove weighs only 51 g, but is capable of simulating objects in a large range of Young's modulus from 540 Pa to 5.4 MPa. The electrostatic adhesive brake costs only approximately 2.43 mW during operation, i.e., more than three days powered by a small button battery. We built a feedforward control model and evaluated its performance. Experimental results show that this glove can generate an accurate force to follow the force-displacement profile of the corresponding real objects. The error is less than 7%, barely noticeable by the subjects. The subjective tests also demonstrate that little statistical difference exists between the real objects and the virtual objects for the subjects.