Publications de Harshal Arun Sonar

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Origami shape transformation is dictated by predefined folding patterns and their folding sequence. The working principle of robotic origami is based on the same principle: we design quasi-two-dimensional tiles and connecting hinges and define and program ...

Stochastic stimulation has been shown to improve movement, balance, the sense of touch, and may also improve position sense. This stimulation can be non-invasive and may be a simple technology to enhance proprioception. In this study, we investigated wheth ...

The latest wearable technologies demand more intuitive and sophisticated interfaces for communication, sensing, and feedback closer to the body. Evidently, such interfaces require flexibility and conformity without losing their functionality even on rigid ...

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 ...

As the field of robotics continues to grow outside the manufacturing environment into our daily lives, the interactions between humans and robots are increasingly becoming close and dynamic. This type of environment requires robots to be less rigid, multi- ...

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 soft robotic systems are enabling safer human-robot interaction and are proving to be instrumental for biomedical rehabilitation. In this manuscript, we propose a novel, modular, wearable robotic device for human (lumbar) spine assistance that is ...

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 ...

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 measurement system for a wearable item comprising a capacitive pressure sensing system (5) including a plurality of capacitive sensors (6) comprising a deformable insulator layer (32a, 32b) and at least first and second electrodes (30a, 30b, 30c) on oppo ...

A measurement system (3) for a wearable item (2) comprising a pressure sensing system including a plurality of capsule chambers (22) each filled with a fluid, and pressure sensors (28) connected to the capsule chambers configured to measure a variation in ...

Soft pneumatic actuators (SPAs) are highly desirable for interactive robotics applications owing to their unconventional properties like high compliance, safe human-machine interaction and adaptable design space. The SPA dynamic behaviour is governed by pn ...

Harshal Arun Sonar

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A reconfigurable interactive interface for controlling robotic origami in virtual environments

Age-Dependent Asymmetry of Wrist Position Sense Is Not Influenced by Stochastic Tactile Stimulation

Soft Pneumatic Actuator Skin with Piezoelectric Sensors for Vibrotactile Feedback

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

Comprehensive Interactive Soft Interfaces for Wearable Tactile Feedback

A soft portable wearable pneumatic interactive suit

Design and Computational Modeling of a Modular, Compliant Robotic Assembly for Human Lumbar Unit and Spinal Cord Assistance

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

Soft Pneumatic Gelatin Actuator for Edible Robotics

Body impact evaluation system and wearable measurement system therefor

Body impact evaluation system and wearable measurement system therefor

Flow Path Optimization for Soft Pneumatic Actuators: Towards Optimal Performance and Portability