Publications de Jamie Paik | EPFL Graph Search

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Bistable structures in nature are unparalleled for their fast response and force amplification even with the most minute physical stimula-tion. However, current works on bistable structures mainly focus on their stable states, while promising intermediate ...

Modular robots hold promise of adaptability, robustness, and versatility. Synchronization of modules is critical; if a module is asynchronous, not only will the robot fail to perform tasks properly, but its behavior may be self-destructive through self-col ...

Haptic interfaces enhance the virtual reality experience by emulating real‐world touch‐based interactions and delivering tactile feedback, while also supporting rehabilitation through interactive systems that speed up recovery. However, current haptic tech ...

In this work a solution for the design of an assistive system for both muscular effort compensations and muscular effort generations for physical and rehabilitation tasks is presented. The proposed human-in-the-loop (HITL) control directly exploits the sub ...

The scope of this work is to show the applicability of the Twisted String Actuators (TSAs) for lightweight, wearable and assistive robotic applications. To this aim, we have developed a novel surface electromyography (sEMG)-driven soft ExoSuit using the TS ...

‘Push-button’ or fully automated manufacturing would enable the production of robots with zero intervention from human hands. Realizing this utopia requires a fundamental shift from a sequential (design–materials–manufacturing) to a concurrent design metho ...

This paper presents an automatic coupling mechanism with mechanical overload protection for use in modular robotic systems. The genderless coupling incorporates a novel safety mechanism that disengages two modules at a pre-defined torque threshold. Several ...

This study provides a novel approach for designing a rotary hexapod with a single actuator and definable motion of a platform. Hexapod is a parallel structure mechanism with six legs and six degrees of freedom (DoF) of an end-effector. It is not an underac ...

Gripper adaptability to handle objects of different shape and size brings high flexibility to manipulation. Gripping flat, round, or narrow objects poses challenges to even the most sophisticated robotic grippers. Among various gripper technologies, the va ...

Origami-inspired structures facilitate the design of compliant and compact robots. However, physical origami robots possess inherent material compliance and mechanical imperfections, presenting challenges in modeling and redundant actuation for accurate co ...

Layer-by-layer manufacturing of composite mechanisms allows fast and cost-effective fabrication of customized robots in millimeter and centimeter scales which is promising for research fields that rely on frequent and numerous physical iterations. Due to t ...

Understanding the external environment depends heavily on vision, audition, and touch. Like vision and audition, the human sense of touch is complex. Tactile perception is composed of multiple fundamental and physical experiences felt as changes in stiffne ...

This work presents a comprehensive open-source simulation and design tool for Soft pneumatic actuators (SPAs) using finite element method, compatible and extensible to a diverse range of soft materials and design parameters. Thorough characterization of th ...

Haptic human interfaces are nowadays becoming more and more diffused also thanks to their combined use with Virtual Reality & Augmented Reality (VR & AR). Although many research platforms explore kinesthetic interaction with virtual objects, the only feedb ...

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 ...

In nature, climbing trees and pipes of varying diameters or even navigating inside of hollow pipes and tree holes is easy for some climbing animals and insects. However, today's pipe-climbing robots, which are important for automatically conducting periodi ...

Soft actuators provide highly adaptable actuator options for applications in wearable devices, grippers and mobile robots due to their inherent compliance. However, this compliance causes soft actuators to have virtually infinite degrees of freedom (DoF) o ...

A variety of reconfigurable surface devices, utilizing large numbers of actuated physical pixels to produce discretized 3D contours, have been developed for different purposes in research and industry. The difficulty of integrating many actuators in close ...

Recent studies demonstrate novel metamaterials featuring unique properties by combining origami-inspired designs with additive manufacturing. In particular, the use of flexural hinges endow distinct advantages toward miniaturization and fabrication; howeve ...

Jamie Paik

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Ultra-tunable bistable structures for universal robotic applications

Hybrid Wireless-Local Communication via Information Propagation for Modular Robotic Synchronization Applications

Reconfigurable Haptic Feedback: Comprehensive Design and Control Framework

Robotic Muscular Assistance-As-Needed for Physical and Training/Rehabilitation Tasks: Design and Experimental Validation of a Closed-Loop Myoelectric Control in Grounded and Wearable Applications

A sEMG-driven Soft ExoSuit based on Twisted String Actuators for Elbow Assistive Applications

Soft robot design methodology for ‘push-button’ manufacturing

Soft Bionic Sensors and Actuators

Automatic Couplings with Mechanical Overload Protection for Modular Robots

The Design of A New Rotary Hexapod with A Single Active Degree of Freedom

An Origami-Inspired Reconfigurable Suction Gripper for Picking Objects with Variable Shape and Size

Data-Driven Kinematic Modeling of Physical Origami Robots

Stretchable Kirigami Components for Composite Meso-Scale Robots

Soft Touch using Soft Pneumatic Actuator-Skin as a Wearable Haptic Feedback Device

Modeling, Design, and Development of Soft Pneumatic Actuators with Finite Element Method

Stiffness Perception of Virtual Objects Using FOLDAWAY-Touch

Soft Pneumatic Gelatin Actuator for Edible Robotics

Multimodal pipe-climbing robot with origami clutches and soft modular legs

Multi-DoF Force Characterization of Soft Actuators

A Compact Modular Soft Surface With Reconfigurable Shape and Stiffness

Hinges for origami-inspired structures by multimaterial additive manufacturing