Electromagnetic actuator design for distributed stiffness

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Magnetically responsive soft materials are promising building blocks for the next generation of soft robotics, prosthesis, surgical tools, and smart textiles. To date, however, the fabrication of highly integrated magnetic fibers with extreme aspect ratios ...

We develop a reduced-order model for thin plates made of hard magnetorheological elastomers (hard-MREs), which are composed of hard-magnetic particles embedded in a polymeric matrix. First, we propose a new magnetic potential, as an alternative to an exist ...

Strain is an inevitable phenomenon in two-dimensional (2D) material, regardless of whether the film is suspended or supported. Moreover, strain is known to alter the physical and chemical properties, such as the band gap, charge carrier effective masses, d ...

Programming intelligent robots requires robust controllers that can achieve desired tasks while adapting to the changes in the task and the environment. In this thesis, we address the challenges in designing such adaptive and anticipatory feedback controll ...

Order, regularities, and patterns are ubiquitous around us. A flock of birds maneuvering in the sky, the self-organization of social insects, a global pandemic or a traffic jam are examples of complex systems where the macroscopic patterns arise from the m ...

To bring educational robots to classrooms, we need to consider teachers' self-efficacy and challenges in managing a robot-mediated classroom, and how to support them in overcoming these challenges. Orchestration tools are designed to support teachers by pr ...

In the modern age of miniaturisation, Smart Materials, a type of material that reacts mechanically to a certain stimulus, have become an integral part of this revolution. Among these materials, Shape Memory Alloys (SMAs), which have the highest volumetric ...

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 ...

The fabrication and control of robot hands with biologically inspired structure remains challenging due to its cost and complexity. In this paper we explore how widely available FDM printers can be used to fabricate complex hand structures by leveraging co ...

Soft robots are envisioned as the next generation of safe biomedical devices in minimally invasive procedures. Yet, the difficulty of processing soft materials currently limits the size, aspect-ratio, manufacturing throughput, as well as, the design comple ...

Dielectric elastomer actuators (DEAs) are interesting soft actuators compared to other actuation technologies owing to large achievable actuation strains, high energy density and fast actuation. However, because DEAs need to be operated under high electric ...

Current research of designing prosthetic robotic hands mainly focuses on improving their functionality by devising new mechanical structures and actuation systems. Most of existing work relies on a single structure/system (e.g., bone-only or tissue-only) a ...

Electromagnetic actuator design for distributed stiffness

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Soft Multimaterial Magnetic Fibers and Textiles

A reduced-order, rotation-based model for thin hard-magnetic plates

Atomic-scale Characterization of Strain and Gate effects on Two-dimensional Materials by Scanning Tunneling Microscopy

Learning and optimization of anticipatory feedback controllers for robot manipulation

Human-Robot Swarm Interaction: An Explorative Path to Foster Complex Systems Understanding

Supporting Teachers' Orchestration in Robot-mediated Classrooms

Synthesis of Novel Integrated Actuators Powered by Shape Memory Alloys

Flexure Variable Stiffness Actuators

Scalable Fabrication and Actuation of a Human Inspired Hand Through 3D Printed Flexures and Combinatorial Actuation

Highly Integrated Multi-Material Fibers for Soft Robotics

Lifetime of dielectric elastomer actuators under DC electric fields

Fast 3D Modeling of Prosthetic Robotic Hands Based on a Multi-Layer Deformable Design