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I present two compliant actuators that address important limitations in electrostatic actuators: limited strain and low force. To reach high forces, we developed a scalable honeycomb architecture of dozens to hundreds of millimeter-scale electrostatic zipping units, obtained by repeatedly folding a patterned sheet. These “honeycomb” actuators generate 40 N of force in an active volume of 3.8 cm^3, with an energy density of 28 J/kg. To obtain high stroke, several tens of cm, we developed a fiber-format slidi

Flexible Electromagnetic Actuators (FEMAs) operate at low driving voltages and respond rapidly. However, they require a bulky external permanent magnet, which is challenging to integrate into a small system. This paper presents small-scale, flexible electromagnetic actuators with bidirectional stability. This actuator integrates two multilayer planner spiral coils with a silicone-encapsulated NdFeB magnet, combined with Kresling-origami PET housings. Origami structures provide compliance and snap-through bi

Due to increased demand for compact grippers in applications such as drone deliveries or cleanroom pick and place robots, bistable grippers powered by shape memory alloys (SMAs) are an elegant solution for replacing the traditional pneumatic grippers. But due to their complex behaviour, they are difficult to size and are, thus, rarely used in industrial applications. In this paper, a bistable flexure-based SMA-driven parallel gripper is presented that is lightweight, compact and resistance to friction and w

Cardiac assist devices based on dielectric elastomer actuators (DEAs) offer a promising alternative to conventional mechanical circulatory support by providing soft and adaptive mechanical assistance. However, existing DEA-based systems face significant limitations in energy efficiency and effective hemodynamic modulation. This study presents a novel vacuum-enhanced DEA-based counterpulsation device and evaluates its performance in a porcine in-vivo model. We investigated two distinct implementation configu

Forecasting post-stroke rehabilitation outcome is essential to personalize therapeutic strategies. Traditional approaches rely on clinical assessment scales, which, while essential, may benefit from complementary objective measures. In this direction, robot-assisted assessment offers the unprecedented possibility of precisely collecting patients’ physiological signals, enabling a data-driven approach to recovery assessments. Leveraging the use of multimodal features collected during assessment sessions perf

The 2024 ICORR-SASNET Ghana Neurorehabilitation Robotics workshop, convened on March 15-16, 2024, in Accra, Ghana, brought together 22 speakers and 27 attendees from nine countries to address the pressing need for enhanced access to neurorehabilitation services and rehabilitation robotics in Africa. Low- and Middle-Income Countries (LMICs) face substantial challenges in providing adequate rehabilitation services. This exacerbates the burden of disability and impedes the recovery and quality of life of indiv

The space of a drawing can expand by allowing the lines to stretch and breathe. It is the foundation of constructing knowledge that can be transformed and evolve over time. The instrument used for tracing is a fix pencil. Depending on the pressure exerted by the hand on the surface of the paper, different types of leads are tested (4H, 2H, F). An attempt is made to discover the thickness of each line. It is recommended to constantly sharpen the lead, in order to draw by cutting. The pencil acts like a knif

The recovery of upper extremity motor functions is crucial after a stroke. Robotic technologies have been employed for over two decades as part of rehabilitation strategies. However, the varying positive responses to robotic treatments emphasize the complexity of each clinical case. Addressing this diversity is a challenge in personalizing rehabilitation paths, underscoring the need for tailored recovery strategies. This study aims to develop a predictive method based on machine learning algorithms to antic

Soft wearable robots could provide support for lower and upper limbs, increase weight lifting ability, decrease energy required for walking and running, and even provide haptic feedback. However, to date most of wearable robots are based on electromagnetic ...

Motor recovery following stroke is believed to necessitate alteration in functional connectivity between cortex and muscle. Cortico-muscular coherence has been proposed as a potential biomarker for post-stroke motor deficits, enabling a quantification of r ...

Hand motor function is often severely affected in stroke patients. Non-satisfying recovery limits reintegration into normal daily life. Understanding stroke-related network changes and identifying common principles that might underlie recovered motor funct ...

Stroke has long been regarded as focal disease with circumscribed damage leading to neurological deficits. However, advances in methods for assessing the human brain and in statistics have enabled new tools for the examination of the consequences of stroke ...

Structural brain imaging has continuously furthered our knowledge how different pathways of the human motor system contribute to residual motor output in stroke patients. Tract-related microstructure of pathways between primary and premotor areas has been ...

Polyoxymethylene dimethyl ethers (OME) containing 3-5 CH2O units (OME3-5) are appealing oxygenated fuels, which can be used in diesel engines with only slight fuel system modifications. Their combustion leads to reduced hazardous exhaust gas emissions comp ...

Background Brain imaging has shown that not only the cortico-spinal tract (CST), but also alternate corticofugal motor fibers (aMF), such as the cortico-rubro-spinal and cortico-reticulo-spinal tract, influence residual motor output after stroke. So far, s ...

Structural connectivity analyses by means of diffusion-weighted imaging have substantially advanced the understanding of stroke-related network alterations and their implications for motor recovery processes and residual motor function. Analyses of the corticospinal tract, alternate corticofugal pathways as well as intrahemispheric and interhemispheric corticocortical connections have not only been related to residual motor function in cross-sectional studies, but have also been evaluated to predict functio

Classical pivots have frictional losses leading to the limited quality factor of oscillators used as time bases in mechanical watches. Flexure pivots address these issues by greatly reducing friction. However, they have drawbacks such as gravity sensitivity and limited angular stroke. This paper analyses these problems for the cross-spring flexure pivot and presents an improved version addressing these issues. We first show that the cross spring pivot cannot be both insensitive to gravity and have a long st

Renewable energy resources, such as photovoltaic panels, typically have very volatile power-injection characteristics, which poses a number of challenges to the real-time control of electrical grids that contain a significant fraction of these resources. Recently, a new paradigm for controlling such grids, termed COMMELEC, was proposed; it uses explicit power setpoints instead of droop-control. Central to this new paradigm is an abstract message format that enables resources to delegate the decisions relate

Soft robotics may provide many advantages compared to traditional robotics approaches based on rigid materials, such as intrinsically safe physical human-robot interaction, efficient/stable locomotion, adaptive morphology, etc. The objective of this study is to develop a compliant structural actuator for soft a soft robot using dielectric elastomer minimum energy structures (DEMES). DEMES consist of a pre-stretched dielectric elastomer actuator (DEA) bonded to an initially planar flexible frame, which defor

Dielectric minimum energy structures are capable of large actuation stroke, and consist of a pre-stretched dielectric elastomer actuator (DEA) laminated onto a flexible frame, which makes it easy to obtain both simple and complex shapes. We report here on the fabrication and characterization of a prototype capable of one-dimensional bending actuation. For the DEA, several combinations of ion-implanted PDMS membranes and uniaxial pre-stretch ratio were used. The actuator was characterized by measuring the de

Two-stroke diesel engine

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Scaling up electrostatic actuators

Flexible Electromagnetic Actuators with Kresling-Origami Housing for Modular Soft Robots

Design and modelling of a flexure-based bistable gripper powered by shape memory alloys

Vacuum-enhanced dielectric elastomer counterpulsation for in-vivo diastolic augmentation

A multimodal machine learning approach to forecast upper limb motor recovery after stroke using kinematic and electromyographic data-a pilot-study

Pragmatic recommendations to improve access to rehabilitation robots, assistive technologies and neurorehabilitation services in Africa: proceedings from ICORR-SASNET Ghana neurorehabilitation workshop, 2024

"Diario de una línea”, (Journal of a line)

Automatic Prediction of Upper Limb Motor Recovery in Stroke Patients Undergoing Robotic Therapy

Electrically-Driven Soft Fluidic Actuators Combining Stretchable Pumps With Thin McKibben Muscles

Cortico-Muscular Coherence Is Reduced Acutely Post-stroke and Increases Bilaterally During Motor Recovery: A Pilot Study

The functional role of beta‐oscillations in the supplementary motor area during reaching and grasping after stroke: A question of structural damage to the corticospinal tract

Brain networks and their relevance for stroke rehabilitation

Prefrontal-Premotor Pathways and Motor Output in Well-Recovered Stroke Patients

Catalytic synthesis of polyoxymethylene dimethyl ethers (OME): A review

Synergistic but independent: The role of corticospinal and alternate motor fibers for residual motor output after stroke

Structural connectivity analyses in motor recovery research after stroke

Gravity insensitive flexure pivots for watch oscillators

Real-Time Control of Microgrids with Explicit Power Setpoints: an API for Resource Agents

Effect of mechanical parameters on dielectric elastomer minimum energy structures

A soft robotic actuator using dielectric minimum energy structures