Publications by Jamie Paik | EPFL Graph Search

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This paper presents the proof-of-concept for a 4D printed active compliant hinge with a selectively variable stiffness for the deployment and reorientation of satellite appendages. We use 4D printing to create an active compliant hinge capable of bending t ...

In modular robotics, there is classically a compromise between coupling complexity and functionality. The mechanical and electrical designs are linked, such that adding electrical features often requires redesigning the mechanical components. However, incr ...

Designing novel materials is greatly dependent on understanding the design principles, physical mechanisms, and modeling methods of material microstructures, requiring experienced designers with expertise and several rounds of trial and error. Although rec ...

Origami shape transformation is dictated by predefined folding patterns and their folding sequence. The working principle of robotic origami is based on the same principle: we design quasi-two-dimensional tiles and connecting hinges and define and program ...

Tactile perception of softness serves a critical role in the survival, well-being, and social interaction among various species, including humans. This perception informs activities from food selection in animals to medical palpation for disease detection ...

This work demonstrates the first 3D printed wearable motor-sensory module prototype designed for facial rehabilitation, focusing on facial paralysis. The novelty of the work lies in the fast fabrication of the first fully soft working prototype, including ...

Stochastic stimulation has been shown to improve movement, balance, the sense of touch, and may also improve position sense. This stimulation can be non-invasive and may be a simple technology to enhance proprioception. In this study, we investigated wheth ...

The latest wearable technologies demand more intuitive and sophisticated interfaces for communication, sensing, and feedback closer to the body. Evidently, such interfaces require flexibility and conformity without losing their functionality even on rigid ...

Series elastic actuators (SEAs) and variable elastic actuators (VSAs) provide shock resistance, energy storage, and stable force control. However, they usually require extra springs, mechanical parts, and transmissions, increasing size, weight, number of m ...

Robotic origami design allows creating meso-scale robotic systems and mechanisms not limited by degrees of freedom, miniaturization and assembly downsides of conventional transmission mechanisms. However, unlike the traditional rigid approaches, robotic or ...

Modular robots (MRs) consist of unique robots which interconnect and work as a collective to perform objectives. Coordinating these robots rely on robust communication, as modules moving independently can lead to damaging behaviour. We present a robust str ...

Soft actuators using pressurized air are being widely used due to their inherent compliance, conformability and customizability. These actuators are powered and controlled by pneumatic supply systems (PSSs) consisting of components such as compressors, val ...

Under-actuated robots offer multiple degrees of freedom without much added complexity to the actuation and control. Utilizing adjustable stiffness joints in these robots allows us to control their stable configurations and their mode of interaction with th ...

This paper presents a novel approach to fault tolerant reconfiguration of modular self-folding robots. Among various types of faults that probably occur in the modular system, we focus on the tolerance of complete actuation failure of active modules that m ...

Owing to the remarkable properties of the somatosensory system, human skin compactly perceives myriad forms of physical stimuli with high precision. Machines, conversely, are often equipped with sensory suites constituted of dozens of unique sensors, each ...

Recent robots target safety, reconfigurability and interactivity by addressing the “softness” of the hardware either by endowing additional degrees-of-freedom or through inherent compliancy. These robots require distributed sensing with flexibility and sof ...

Vacuum-powered Soft Pneumatic Actuator (VSPA) Modules have been described to afford advantages for rapid development of reconfigurable, multi-DoF soft pneumatic robots powered by vacuum by reducing their logistical complexity, however they also present new ...

Every robotic gripper requires an equilibrated solution towards the grasp adaptability, precision, and load bearing capacity. A versatile soft robotic gripper requires adjustable grasp mode, for objects with different sizes and shapes, and adjustable compl ...

In robotics, controlling the stiffness of the joints that contribute to the robots’ degree of freedom dictates the adaptability, versatility, and safety of the whole system.We can achieve variable stiffness or impedance in a robotic system purely by the co ...

Self-folding enables compact, deployable and reconfigurable structures for close and far remote applications. As the degree-of-freedom in achieving folded shapes is dictated by the number of actuators, distributed on a quasi-2-D lattice, their design remai ...

Jamie Paik

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A 4D printed active compliant hinge for potential space applications using shape memory alloys and polymers

3PAC: A Plug-and-Play System for Distributed Power Sharing and Communication in Modular Robots

Text-to-Microstructure Generation Using Generative Deep Learning

A reconfigurable interactive interface for controlling robotic origami in virtual environments

SORI: A softness-rendering interface to unravel the nature of softness perception

3D Printed Motor-Sensory Module Prototype for Facial Rehabilitation

Age-Dependent Asymmetry of Wrist Position Sense Is Not Influenced by Stochastic Tactile Stimulation

Soft Pneumatic Actuator Skin with Piezoelectric Sensors for Vibrotactile Feedback

Flexure Variable Stiffness Actuators

Design of Low-Profile Compliant Transmission Mechanisms

Modular robot networking: a novel schema and its performance assessment

Pneumatic supply system parameter optimization for soft actuators

An under-actuated origami gripper with adjustable stiffness joints for multiple grasp modes

An Actuation Fault Tolerance Approach to Reconfiguration Planning of Modular Self-folding Robots

Multi-modal deformation and temperature sensing for context-sensitive machines

Soft piezoresistive sensor model and characterization with varying design parameters

Practical control methods for vacuum driven soft actuator modules

Grasp mode and compliance control of an under-actuated origami gripper using adjustable stiffness joints

JammJoint: A Variable Stiffness Device Based on Granular Jamming for Wearable Joint Support

Programmable Fluidic Networks Design for Robotic Origami Sequential Self-Folding