Publications de Jamie Paik | EPFL Graph Search

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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 ...

Robotic exoskeletons provide programmable, consistent and controllable active therapeutic assistance to patients with neurological disorders. Here we introduce a prototype and preliminary experimental evaluation of a rehabilitative gait exoskeleton that en ...

In ant colonies, collectivity enables division of labour and resources with great scalability. Beyond their intricate social behaviours, individuals of the genus Odontomachus, also known as trap-jaw ants, have developed remarkable multi-locomotion mechanis ...

In this article, we achieve a closed-loop control over haptic feedback, first time for an entirely soft platform. We prototyped a novel self-sensing soft pneumatic actuator (SPA) with soft strain sensors, called SPA-skin, which withstands large multiaxial ...

We present a method to determine the location of an applied pressure on a large area, monolithic silicone based capacitive sensor. In contrast to pressure sensor arrays composed of n x n discrete sensors, we utilize a single sensor body with a single instr ...

Underwater swimming robots permit remote access to over 70% of the Earth's surface that is covered in water for a variety of scientific, environmental, tactical, or industrial purposes. Many practical applications for robots in this setting include sensing ...

This paper presents the concept and model of "Vacuum Bellows," a cylindrical membrane-reinforced contractile vacuum soft pneumatic actuator (V-SPAs). These actuators consist of a tubular membrane connected to a series of interior rigid rings periodically s ...

Recently developed soft pneumatic actuators (SPAs) powered by negative pressure have demonstrated great potential in the future of soft robotics for their high strength, intrinsic safety, low weight, and often simple design. The majority of these have only ...

This letter presents closed-loop position control of a pneumatically actuated modular robotic platform "pneumagami" that can be stacked to enlarge work and design space for wearable applications. The module is a 3 degrees of freedom (DoF) parallel robot wi ...

Wearable fingertip haptic devices aim to deliver somatosensory feedback for applications such as virtual reality, rehabilitation, and enhancing hardware/physical control interfaces. However, providing various kinds of feedback requires several Degrees of F ...

Kirigami is the art of paper cutting, and it is emerging as an elegant design and manufacturing solution in mechanical metamaterials. Currently, the majority of kirigami designs focus on shape-morphing, but there is little attention on the remarkable mecha ...

Soft actuators made from elastomeric active materials can find widespread potential implementation in a variety of applications ranging from assistive wearable technologies targeted at biomedical rehabilitation or assistance with activities of daily living ...

Intelligent robotic systems that can react to unprogrammed tasks and unforeseen environmental changes require augmented "softness." Robogami, a low-profile origami robot, addresses intrinsic (material-wise) and extrinsic (mechanism-wise) softness with its ...

A fully wearable system used for communication and information transfer between two users or between a user and a machine to render an effective and intuitive physical interface for combined input and output functions, the fully wearable system including a ...

Wearable technologies, interactive and safe robotic systems require an effective actuator control that highly depends on the accurate feedback from flexible and dense array of sensors. In this paper, we introduce a novel soft stretch sensor design that is ...

The latest efforts in digital fluidic circuits' research aim at being electronics-free, light-weight, and compliant controllers for soft robots; however, challenges arise to adjust the fluidic circuit's digital logic operations. Currently there is no other ...

Soft pneumatic actuators promise simple, adaptable, and safe manipulation, but the nature of pneumatic circuits limits the scalability of this approach. This paper introduces a method to augment the degrees-of-freedom of soft pneumatic actuators without in ...

Tactile sensing transfers complex interactive information in a most intuitive sense. Such a populated set of data from the environment and human interactions necessitates various degrees of information from both modular and distributed areas. A sensor desi ...

A planar actuator device, including a base plate including a first, second, and third pair of planar coils, each pair of planar coils having an inner coil and an outer coil, each pair of planar coils arranged along a first, second, and third linear motion ...

Origami robots are characterized by their compact design, quasi-two-dimensional manufacturing process, and folding joint-based transmission kinematics. The physical requirements in terms of payload, range of motion, and embedding core robotic components ha ...

Jamie Paik

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

Rehabilitative Soft Exoskeleton for Rodents

Designing Minimal and Scalable Insect-Inspired Multi-Locomotion Millirobots

Closed-Loop Haptic Feedback Control Using a Self-Sensing Soft Pneumatic Actuator Skin

An Any-Resolution Distributed Pressure Localization Scheme Using a Capacitive Soft Sensor Skin

RoboScallop: A Bivalve Inspired Swimming Robot

Modeling Vacuum Bellows Soft Pneumatic Actuators with Optimal Mechanical Performance

Low-inertia vacuum-powered soft pneumatic actuator coil characterization and design methodology

Closed-Loop Position Control of a Self-Sensing 3-DoF Origami Module With Pneumatic Actuators

Haptigami: a fingertip haptic interface with vibrotactile and 3-DoF cutaneous force feedback

Kirigami Design and Modeling for Strong, Lightweight Metamaterials

Stretchable Materials for Robust Soft Actuators towards Assistive Wearable Devices

Robogami: A Fully Integrated Low-Profile Robotic Origami

A soft portable wearable pneumatic interactive suit

The Design and Modeling of a Novel Resistive Stretch Sensor With Tunable Sensitivity

CMOS-Inspired Complementary Fluidic Circuits for Soft Robots

Single chamber multiple degree-of-freedom soft pneumatic actuator enabled by adjustable stiffness layers

Development and characterization of silicone embedded distributed piezoelectric sensors for contact detection

Planar pop-up actuator device with embedded electro-magnetic actuation

Lattice-and-Plate Model: Mechanics Modeling of Physical Origami Robots