Publications associées à Compact Pneumatic Clutch With Integrated Stiffness Variation and Position Feedback

Publications associées (36)

Wafer-Level Microfabrication of Zipping Electrohydraulic Actuators for Soft Milli-Robots

Herbert Shea, Florian Fernand Hartmann, Shai-Shmuel Shmulevich

Miniaturizing soft robots is often limited by scaling down actuators while keeping high energy density and good response time. In this work we demonstrate the wafer-level microfabrication of electrostatic zipping soft actuators, similar to peano-HASELs. Th ...

IEEE2025

Mechanoreceptive soft robotic molluscoids made of granular hydrogel-based organoelectronics

Esther Amstad, Josephine Anna Eleanor Hughes, Nana Obayashi, Lorenzo Lucherini, Francesca Bono

The viscoelasticity of many soft polymers renders flexible sensors susceptible to hysteresis and signal drift that limit their accuracy. To reduce the impact of viscoelasticity on the signal without compromising the softness of the material, we introduce e ...

2025

DiffCheck: A scan-CAD evaluation tool for digital manufacturing and assembly processes in timber construction

Yves Weinand, Julien Gamerro, Stefana Parascho, Andrea Settimi, Marianthi Eririni Kladeftira, Eleni Maria Skevaki, Damien Lambert Alain Félicien Gilliard

In digital timber construction, scanning technologies and point cloud data are widely used due to the accessibility of affordable 3D sensors, photogrammetry, and userfriendly CAD tools. While typically not employed for accuracy checks in timber fabrication ...

CRC Press2025

DEyeA: Artificial Muscles for the Restoration of Eye Blinking Following Facial Paralysis

Yves Perriard, Yoan René Cyrille Civet, Stefania Maria Aliki Konstantinidi, Amine Benouhiba

Facial nerve palsy results in the inability to control facial muscles, including the Orbicularis Oculi, which is the main muscle enabling the blinking action. Blinking is not only important for responding socially to other humans, it is also essential for ...

Wiley2025

Soft Robotics: A Route to Equality, Diversity, and Inclusivity in Robotics

Josephine Anna Eleanor Hughes

Robotics is entering our daily lives. The discipline is increasingly crucial in fields such as agriculture, medicine, and rescue operations, impacting our food, health, and planet. At the same time, it is becoming evident that robotic research must embrace ...

Mary Ann Liebert, Inc2024

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

Carbon based printed electrodes for DEAs: study of pad, inkjet, and stencil printing

Yves Perriard, Yoan René Cyrille Civet, Thomas Guillaume Martinez, Stefania Maria Aliki Konstantinidi, Armando Matthieu Walter, Simon Holzer

Dielectric elastomer actuators (DEAs) have raised interest due to their remarkable capabilities in various applications, such as soft robotics, haptic feedback systems, and biomedical devices. To harness the full potential of DEAs, the choice of the electr ...

Society of Photo-Optical Instrumentation Engineers (SPIE)2024

Soft Robot Shape Estimation With IMUs Leveraging PCC Kinematics for Drift Filtering

Josephine Anna Eleanor Hughes, Francesco Stella

The control possibilities for soft robots have long been hindered by the need for reliable methods to estimate their configuration. Inertial measurement units (IMUs) can solve this challenge, but they are affected by well-known drift issues. This letter pr ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Robot Learning using Tensor Networks

Suhan Narayana Shetty

In various robotics applications, the selection of function approximation methods greatly influences the feasibility and computational efficiency of algorithms. Tensor Networks (TNs), also referred to as tensor decomposition techniques, present a versatile ...

EPFL2024

Filiform Variable Stiffness Technologies for Medical Robotics

Yegor Piskarev

In recent years, soft robotics has surged in applications like wearables, drones, smart fabrics, and medical instruments. Due to their compliance, these devices excel in tasks demanding dexterity and adaptability, such as manipulation, locomotion, crash re ...

EPFL2024

Permanently magnetized elastomer rotating actuator using traveling waves

Herbert Shea, Jean-Baptiste Chossat

We report a soft actuator that generates continuous rotation of an object placed on it by electromagnetically exciting circular travelling waves in a soft disk. The disk, that serves as the stator, is made of a stretchable composite consisting of segments ...

Iop Publishing Ltd2024

Soft robotics for farm to fork: applications in agriculture & farming

Josephine Anna Eleanor Hughes, Kai Christian Junge

Agricultural tasks and environments range from harsh field conditions with semi-structured produce or animals, through to post-processing tasks in food-processing environments. From farm to fork, the development and application of soft robotics offers a pl ...

Iop Publishing Ltd2024

Frequency response of fiber reinforced DEAs

Yves Perriard, Yoan René Cyrille Civet, Thomas Guillaume Martinez, Stefania Maria Aliki Konstantinidi

Dielectric Elastomer Actuators (DEAs) have emerged as versatile and promising devices for a multitude of applications, including soft robotics, haptic interfaces, and artificial muscles. DEAs are an interesting soft actuator technology due to their high en ...

Society of Photo-Optical Instrumentation Engineers (SPIE)2024

3D printed large amplitude torsional microactuators powered by ultrasound

Mahmut Selman Sakar, Amit Yedidia Dolev, Mehdi Ali Gadiri, Junsun Hwang

Here, we introduce a design, fabrication, and control methodology for large amplitude torsional microactuators powered by ultrasound. The microactuators are 3D printed from two polymers with drastically different elastic moduli as a monolithic compliant me ...

2024

A Biohybrid Superorganism - Investigating honeybees' collective behaviors via interactive robotics

Rafael Botner Barmak

Social insects, such as ants, termites, and honeybees, have evolved sophisticated societies where the collaborative efforts of "simple" individuals can lead to the emergence of complex dynamics. The reliance of each organism on the collective is so great t ...

EPFL2024

Educational Soft Underwater Robot with an Electromagnetic Actuation

Robert Marius Hennig

As demonstrated by the Soft Robotics Toolkit Platform, compliant robotics pose an exciting educational opportunity. Underwater robotics using soft undulating fins is an expansive research topic with applications such as exploration of underwater life or re ...

Mary Ann Liebert, Inc2024

Distributed Predictive Formation Control of Autonomous Rotary-Wing Micro Aerial Vehicles

Izzet Kagan Erünsal

This doctoral thesis navigates the complex landscape of motion coordination and formation control within teams of rotary-wing Micro Aerial Vehicles (MAVs). Prompted by the intricate demands of real-world applications such as search and rescue or surveillan ...

EPFL2024

Biohybrid Superorganisms—On the Design of a Robotic System for Thermal Interactions With Honeybee Colonies

Louis Arnaud Vahé Piotet, Francesco Mondada, Rafael Botner Barmak, Robert Matthew Mills, Raphael Cherfan

Social insects, such as ants, termites, and honeybees, have evolved sophisticated societies where collaboration and division of labor enhance survival of the whole colony, and are thus considered “superorganisms”. Historically, studying behaviors involving ...

2024

Avoidance of Concave Obstacles Through Rotation of Nonlinear Dynamics

Aude Billard, Lukas Huber

Controlling complex tasks in robotic systems, such as circular motion for cleaning or following curvy lines, can be dealt with using nonlinear vector fields. This article introduces a novel approach called the rotational obstacle avoidance method (ROAM) fo ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Additively manufactured stretchable zipping electrostatic actuators

Giulio Grasso

The use of soft and stretchable materials allows the development of adaptive robotic systems and human-machine interfaces that are more natural and comfortable to interact with. One of the application fields that benefits the most from these compliant mate ...

EPFL2024