Publications by Yegor Piskarev

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Soft, capacitive tactile (pressure) sensors are important for applications including human-machine interfaces, soft robots, and electronic skins. Such capacitors consist of two electrodes separated by a soft dielectric. Pressing the capacitor brings the el ...

In recent years, soft robotics has surged in applications like wearables, drones, smart fabrics, and medical instruments. Due to their compliance, these devices excel in tasks demanding dexterity and adaptability, such as manipulation, locomotion, crash re ...

Minimally invasive surgeries, such as cardiac ablations, increasingly resort to magnetically-steered catheters. To enhance the dexterity and tissue interaction capabilities of these devices, researchers have developed catheters with variable stiffness (VS) ...

Biodegradable materials decompose and return to nature. This functionality can be applied to derive robotic systems that are environmentally friendly. This study presents a fully biodegradable soft actuator, which is one of the key elements in "green" soft ...

Variable stiffness (VS) is an important feature that significantly enhances the dexterity of magnetic catheters used in minimally invasive surgeries. Existing magnetic catheters with VS consist of sensors, heaters, and tubular structures filled with low me ...

Perching in unmanned aerial vehicles (UAVs) offers the possibility of extending the range of aerial robots beyond the limits of their batteries. It has been a topic of intense study for multirotor UAVs. Perching in winged UAVs is harder because a kinetic e ...

The inherent compliance of soft robots often makes it difficult for them to exert forces on surrounding surfaces or withstand mechanical loading. Controlled stiffness is a solution to empower soft robots with the ability to apply large forces on their envi ...

Pressure-sensitive adhesives (PSAs) are polymeric films that can be adhered to and detached from surfaces without leaving residue. Researchers are looking to enhance the bond strength between PSAs and different substrates. It can be achieved by tuning PSA' ...

We present a fully edible pneumatic actuator based on gelatin-glycerol material. The actuator is monolithic, fabricated via a molding process, and measures 90 mm in length, 20 mm in width, and 17 mm in thickness. Thanks to the material mechanical character ...

A hollow variable stiffness thread including a flexible inner tube, a conductive shape memory polymer (CSMP) layer arranged around the inner tube forming a variable stiffness zone, a flexible encapsulation layer arranged around the CSMP layer, and a first ...

In recent years, there has been a growing interest in the development of universal soft grippers that can handle objects of varying form factors (including flat objects), surface conditions (including moistened or oily objects), and mechanical properties ( ...

In minimally invasive surgery, such as cardiac ablation, magnetically steered catheters made of variable-stiffness materials can enable higher dexterity and higher force application to human tissue. However, the long transition time between soft and rigid ...

Yegor Piskarev

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Ultrasoft Liquid Metal Elastomer Foams with Positive and Negative Piezopermittivity for Tactile Sensing

Filiform Variable Stiffness Technologies for Medical Robotics

Rapid and Continuous Stiffness Control of Fiber-Jamming Catheters for Cardiac Ablation

Biodegradable Electrohydraulic Soft Actuators

A Variable Stiffness Magnetic Catheter Made of a Conductive Phase-Change Polymer for Minimally Invasive Surgery

Passive Perching with Energy Storage for Winged Aerial Robots

Lighter and Stronger: Cofabricated Electrodes and Variable Stiffness Elements in Dielectric Actuators

Enhancement of Pressure-Sensitive Adhesive by CO2 Laser Treatment

Soft Pneumatic Gelatin Actuator for Edible Robotics

Ultra-stretchable strain sensors using carbon black-filled elastomer composites and comparison of capacitive versus resistive sensors

A variable stiffness magnetic catheter made of a conductive shape memory polymer for minimally invasive surgery

A Soft Gripper with Granular Jamming and Electroadhesive Properties

Fast-Response Variable-Stiffness Magnetic Catheters for Minimally Invasive Surgery