Publications by Jamie Paik | EPFL Graph Search

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Modular self-folding robots are versatile systems that can change their own shape from two-dimensional patterns at instant commands. This reconfigurability is commonly restrained by power limitation in autonomous environments. The robotic systems with insu ...

This article reviews the current state of the art in the development of modular reconfigurable robot (MRR) systems and suggests promising future research directions. A wide variety of MRR systems have been presented to date, and these robots promise to be ...

Origami robots (Robogamis) use architecture to strategically activate different sets and sequence of actuators to achieve large variety of reconfigurable forms. Tribot is a unique mobile origami robot that can simultaneously choose between two modes of loc ...

Underactuated systems offer compact design with easy actuation and control but at the cost of limited stable con- figurations and reduced dexterity compared to the directly driven and fully actuated systems. Here, we propose a compact origamibased design i ...

The robotic origami (Robogami) is a low-profile, sheet-like robot with multi degrees-of-freedom (DoF) that embeds different functional layers. Due to its planar form, it can take advantage of precise 2D fabrication methods usually reserved for micro and na ...

There are several challenges in down-sizing robots for transportation deployment, diversification of locomotion capabilities tuned for various terrains, and rapid and on-demand manufacturing. In this paper we propose an origami-inspired method of addressin ...

Origami robots self-reconfigure from a quasi two-dimensional manufactured state to three-dimensional mobile robots. By folding, they excel in transforming their initial spatial configuration to expand their functionalities. However, unlike paper-based orig ...

Soft Pneumatic Actuator skin (SPA-skin) is a novel concept of ultra-thin (< 1 mm) sensor embedded actuators with distributed actuation points that could cover soft bodies. This highly customizable and flexible SPA-skin is ideal for providing proprioceptive ...

Soft pneumatic actuators (SPAs) are versatile robotic components enabling diverse and complex soft robot hardware design. However, due to inherent material characteristics exhibited by their primary constitutive material, silicone rubber, they often lack r ...

The soft pneumatic actuators (SPAs) are a solution toward the highly customizable and light actuators with the versatility of actuation modes, and an inherent compliance. Such flexibility allows SPAs to be considered as alternative actuators for wearable r ...

Soft pneumatic actuators (SPAs) are highly desirable for interactive robotics applications owing to their unconventional properties like high compliance, safe human-machine interaction and adaptable design space. The SPA dynamic behaviour is governed by pn ...

For soft robots to leave the lab and enter unstructured environments, proprioception is required to understand how interactions in the field affect the soft structure. In this work, we present sensor-embedded soft pneumatic actuators (sSPA) that can observ ...

A haptic device is disclosed comprising at least one fluidic actuator operatively connectable with pumping means; and a plurality of movable members mechanically connected with said at least one fluidic actuator, wherein said movable members can perform a ...

Soft actuators made of highly elastic polymers allow novel robotic system designs, yet application-specific soft robotic systems are rarely reported. Taking notice of the characteristics of soft pneumatic actuators (SPAs) such as high customizability and l ...

The study provides derivation and application of novel formula for the calculation of general imposed constraints for kinematic chains (including mechanisms and zero-degrees-of-freedom Assur groups) depending on the types of kinematic pairs and numbers of ...

Thermally activated shape memory alloy (SMA) actuators are direct-driven and produce high power density with design versatility. However, beyond their linear actuation in spring forms there is little variety and their application in robotics is limited by ...

An ultra-thin, modular pneumatic system with integrated sensing and transmission enables precise control of folding structures, offering a scalable solution for reconfigurable robots with complex geometries. ...

Biology motivates how complex functionality results from systems of simple materials. ...

Reconfigurable surfaces using robotic pixels can produce discretize 3D contours, shapes and motion patterns. In existing devices, the rendering resolution and richness of shapes and patterns are limited by the use of linear pixels that only produce single ...

Jamie Paik

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Towards Peak Torque Minimization for Modular Self-folding Robots

Modular Reconfigurable Robotics

The Design and Control of the Multi-Modal Locomotion Origami Robot, Tribot

Stiffness Control With Shape Memory Polymer in Underactuated Robotic Origamis

Sensor and actuator integrated low-profile robotic Origami

Tribot: A Deployable, Self-Righting and Multi-Locomotive Origami Robot

Guest Editorial Focused Section on Soft Actuators, Sensors, and Components (SASC)

Generalized modeling of origami folding joints

Soft Pneumatic Actuator Skin with Embedded Sensors

Design and Analysis of a Soft Pneumatic Actuator with Origami Shell Reinforcement

Soft Pneumatic Actuator with Adjustable Stiffness Layers for Multi-DoF Actuation

Flow Path Optimization for Soft Pneumatic Actuators: Towards Optimal Performance and Portability

Strain Sensor-Embedded Soft Pneumatic Actuators for Extension and Bending Feedback

Fluid-actuated haptic device and methods for using thereof

Soft Robot for Gait Rehabilitation of Spinalized Rodents

Calculation of the General Number of Imposed Constraints of Kinematic Chains

Modeling, Characterization and Control of a Novel Torsional Shape Memory Alloy (SMA) Actuator

Low-profile folding mechanism for multi-DoF feedback control

Will robots be bodies with brains or brains with bodies?

Ori-Pixel, a Multi-DoFs Origami Pixel for Modular Reconfigurable Surfaces