Publication

Modular methodology to design high precision parallel robots and application to a 5-Degree of Freedom flexure-based manipulator

Related publications (28)

Personalized Body-Machine Interfaces for Advanced Human-Robot Interaction

Robotic systems are becoming more and more pervasive in modern industrial, scientific and personal activities through recent years and will play a fundamental role in the future society. Despite their increasing level of automation, teleoperation is still ...

EPFL2021

An untethered mechanically-intelligent inchworm robot powered by a shape memory alloy oscillator

Paolo Germano, Yves Perriard, Sean Thomas, Thomas Guillaume Martinez

Shape Memory Alloy (SMA) based actuators have become ideal candidates for use in compact and lightweight applications. These smart materials have often been referred to as artificial muscles due to their high work volume density. In this paper, a flexure-b ...

2021

Soft functional fibers for mechanical sensing and actuation

Andreas Leber

The measurement and generation of mechanical deformations is a key functionality in health monitoring, human-machine interaction, and soft robotics. However, current methods typically rely on small and hard transducers, which result in poor performance, cu ...

EPFL2021

State of the Art on Computational Design of Assemblies with Rigid Parts

Mark Pauly, Peng Song

An assembly refers to a collection of parts joined together to achieve a specific form and/or functionality. Designing assemblies is a non-trivial task as a slight local modification on a part's geometry or its joining method could have a global impact on ...

WILEY2021

Soft pneumatic actuator-driven origami-inspired modular robotic ‘‘pneumagami’’

Jamie Paik, Özdemir Can Kara, Matthew Aaron Robertson

This article presents a new modular robotic platform for enabling reconfigurable, actively controlled, high-degree-of-freedom (high-DoF) systems with compact form factor. The robotic modules exploit the advantages of origami-inspired construction methods a ...

2021

From Modular Origami Robots to Polygon-based Modular Systems: a New Paradigm in Reconfigurable Robotics

Christoph Heinrich Belke

A useful robot is one that fulfils its intended function. In a factory setting, where robots have been used successfully for decades, this function is often singular and clearly defined. Similarly, the surroundings of the robot are mostly known, sterile, a ...

EPFL2020

Bio-Inspired Tensegrity Fish Robot

Dario Floreano, Jun Shintake, Timothée John Martin Peter, Davide Zappetti, Yusuke Ikemoto

This paper presents a method to create fish-like robots with tensegrity systems and describes a prototype modeled on the body shape of the rainbow trout with a length of 400 mm and a mass of 102 g that is driven by a waterproof servomotor. The structure of ...

IEEE2020

Addressable Acoustic Actuation of 3D Printed Soft Robotic Microsystems

Pietro Luciano Jakobus Dirix, Mahmut Selman Sakar, Murat Kaynak

A design, manufacturing, and control methodology is presented for the transduction of ultrasound into frequency-selective actuation of multibody hydrogel mechanical systems. The modular design of compliant mechanisms is compatible with direct laser writing ...

2020