An Active Connection Mechanism for Soft Modular Robots

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Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new exploration and m ...

Flexure pivots, which are widely used for precision mechanisms, generally have the drawback of presenting parasitic shifts accompanying their rotation. The known solutions for canceling these undesirable parasitic translations usually induce a loss in radi ...

Haptic perception of softness is a unique feature of the human skin that relies on the concurrent measurements of the lateral deformation and compression of the skin during object manipulation. This is challenging to implement in robotics because of combin ...

In this thesis, we address the complex issue of collision avoidance in the joint space of robots. Avoiding collisions with both the robot's own body parts and obstacles in the environment is a critical constraint in motion planning and is crucial for ensur ...

Robotic surgery is a promising direction to improve surgeons and assistants’ daily life with respect to conventional surgery. In this work, we propose solo laparoscopic surgery in which two robotic arms, controlled via haptic foot interfaces, assist the ta ...

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 ...

From surgery to watchmaking, fine-manipulation skills highly rely on the dexterity afforded by both hands. Coordination is key to human dexterity. Specifically, humans need not only to govern the abundant intrinsic degrees of freedom (DOFs) to allocate con ...

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 ...

Many robotics problems are formulated as optimization problems. However, most optimization solvers in robotics are locally optimal and the performance depends a lot on the initial guess. For challenging problems, the solver will often get stuck at poor loc ...

Robots are employed to assist humans in lengthy, challenging, and repetitive tasks. However, the fields of rehabilitation, haptics, and assistive robotics have shown a significant need to support and interact with people in their everyday life. To facilita ...

Robotic systems are more and more present in our daily life. Robots became indeed more economical, easy to program, safe and collaborative in their interaction with humans, versatile in performing different tasks and adaptive towards changes in the environ ...

An Active Connection Mechanism for Soft Modular Robots

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Piecewise Affine Curvature model: a reduced-order model for soft robot-environment interaction beyond PCC

Zero Parasitic Shift Pivoting Kinematic Structures Based On Coupled N-RRR Planar Parallel Mechanisms For Flexure Pivot Design

Liquid Metal-Based Sensor Skin Enabling Haptic Perception of Softness

Implicit Distance Functions: Learning and Applications in Robotics

Enabling four-arm laparoscopic surgery by controlling two robotic assistants via haptic foot interfaces

Flexure Variable Stiffness Actuators

Enhancing our understanding of human fine manipulation skills and advancing robot dexterity in grasping

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

Memory of Motion for Initializing Optimization in Robotics

Active origami platforms for human-robot interactions

Control of Contact Tasks in Autonomous and Human-Robot Collaborative Scenarios: A Dynamical System Approach