Publications associées à Clutchable Fabric Actuator for Energy-Efficient Wearable Robots

Publications associées (16)

Partial Assistance with Lower-Limb Exoskeletons to Enhance Gait and Balance in Daily Living Activities

This thesis addresses key challenges in developing adaptive lower-limb exoskeletons to enhance balance, mobility, and user autonomy during daily living activities. It presents a comprehensive exploration of three critical aspects: push recovery during stan ...

EPFL2025

Edible Soft Actuators based on Konjac Glucomannan for Underwater Operation

Ryo Kanno, Dario Floreano, Jun Shintake, Bokeon Kwak, Markéta Pankhurst

Soft robots are being increasingly developed and deployed for underwater applications such as exploration, monitoring, and rescue owing to their innate compliance, mechanical and chemical stability, and waterproof properties. However, they are still predom ...

2024

A Soft Robotic Morphing Wing for Unmanned Underwater Vehicles

Mirko Kovac

Actuators based on soft elastomers offer significant advantages to the field of robotics, providing greater adaptability, improving collision resilience, and enabling shape-morphing. Thus, soft fluidic actuators have seen an expansion in their fields of ap ...

WILEY2024

Modeling and analysis of miniaturized magnetorheological valve for fluidic actuation

Sofia Lydia Ntella

Fluidic actuation enables movement in a wide range of mechanical systems, from simple laboratory devices to more complex industrial machinery. Fluids are used to generate motion of mechanical pieces. The term "fluids" encompasses two types of technologies: ...

EPFL2023

Origin of the enhanced pseudo-elasticity of additively manufactured Fe-17Mn-5Si-4Ni-10Cr-(V, C) shape memory alloy fabricated by laser powder bed fusion

Christian Leinenbach, Irene Ferretto

This study investigated the origin of the enhanced pseudo-elasticity of additively manufactured vanadium carbide-containing Fe-based shape memory alloys. The aged samples with two different starting microstructures, as-built and solution-treated, showed co ...

Elsevier Science Sa2023

Transient Elastomers with High Dielectric Permittivity for Actuators, Sensors, and Beyond

Holger Frauenrath, Yauhen Sheima

Dielectric elastomers (DEs) are key materials in actuators, sensors, energy harvesters, and stretchable electronics. These devices find applications in important emerging fields such as personalized medicine, renewable energy, and soft robotics. However, e ...

AMER CHEMICAL SOC2022

Deformation and Fracture of Tough Microstructured Hydrogels

Michael David Kessler

Many natural materials are structured on different length scales. This structuring often leads to an intricate interplay between soft and stiff components, which significantly improves the fracture toughness of these materials. A class of soft material tha ...

EPFL2022

A finite element model of the mechanical interactions between peripheral nerves and intrafascicular implants

Silvestro Micera, Stéphanie Lacour, Outman Akouissi

Objective. Intrafascicular peripheral nerve implants are key components in the development of bidirectional neuroprostheses such as touch-enabled bionic limbs for amputees. However, the durability of such interfaces is hindered by the immune response follo ...

IOP Publishing Ltd2022

Addressable Acoustic Actuation of 3D Printed Soft Robotic Microsystems

Mahmut Selman Sakar, Murat Kaynak, Pietro Luciano Jakobus Dirix

A design, manufacturing, and control methodology is presented for the transduction of ultrasound into frequency-selective actuation of multibody hydrogel mechanical systems. The modular design of compliant mechanisms is compatible with direct laser writing ...

2020

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

Jamie Paik, Andres San Millan Rodriguez, Mohssen Fischer

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 ...

2020

Design of structures that adapt to loads through large shape changes

Ian Smith, Gennaro Senatore, Arka Prabhata Reksowardojo

Adaptive structures can modify their geometry and internal forces through sensing and mechanical actuation in order to maintain optimal performance under changing actions. Previous work has shown that well-conceived adaptive design strategies achieve subst ...

2020

Design and Validation of a Modular One-To-Many Actuator for a Soft Wearable Exosuit

Silvestro Micera

The size, weight, and power consumption of soft wearable robots rapidly scale with their number of active degrees of freedom. While various underactuation strategies have been proposed, most of them impose hard constrains on the kinetics and kinematics of ...

2019

Modular Reconfigurable Robotics

Jamie Paik

This article reviews the current state of the art in the development of modular reconfigurable robot (MRR) systems and suggests promising future research directions. A wide variety of MRR systems have been presented to date, and these robots promise to be ...

ANNUAL REVIEWS2019

EXiO-A Brain-Controlled Lower Limb Exoskeleton for Rhesus Macaques

Hannes Bleuler, Mohamed Bouri, Miguel Nicolelis, Jeremy Olivier, Tristan Hubert Vouga

Recent advances in the field of brain-machine interfaces (BMIs) have demonstrated enormous potential to shape the future of rehabilitation and prosthetic devices. Here, a lower-limb exoskeleton controlled by the intracortical activity of an awake behaving ...

Ieee-Inst Electrical Electronics Engineers Inc2017

An Under Actuated Robotic Arm with Adjustable Stiffness Shape Memory Polymer Joints

Aude Billard, Jamie Paik, Seyed Sina Mirrazavi Salehian, Amir Firouzeh

2015

A Miniature Short Stroke Actuator and its Position Control for a Haptic Key

Yves Perriard, Grégory Savioz

This paper addresses the design and optimization of a small-sized linear electrodynamic actuator. This actuator is aimed to be inserted under a computer key in order to produce a force feedback to the user. Replacing the current rubber dome supporting the ...

2009