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

Publications associées (15)

Thermomechanical constitutive modeling of the Kirigami-inspired shape memory alloy

Yves Perriard, Thomas Guillaume Martinez, Marjan Ghorbani, Xinxin Liao

Shape memory alloys (SMAs) are unique materials capable of recovering predefined shapes through reversible phase transformations between austenite and martensite phases. This behavior enables SMAs to exhibit the shape memory effect and pseudoelasticity, al ...

2025

Solvent-Free Synthesis and Processing of Conductive Elastomer Composites for Green Dielectric Elastomer Transducers

Frank Nüesch

Stretchable electrodes are more suitable for dielectric elastomer transducers (DET) the closer the mechanical characteristics of the electrodes and elastomer are. Here, a solvent-free synthesis and processing of conductive composites with excellent electri ...

WILEY-V C H VERLAG GMBH2022

Compact Pneumatic Clutch With Integrated Stiffness Variation and Position Feedback

Jamie Paik

Stiffness variation and real-time position feedback are critical for any robotic system but most importantly for active and wearable devices to interact with the user and environment. Currently, for compact sizes, there is a lack of solutions bringing high ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021

On-Board Mechanical Control Systems for Untethered Microrobots

Mahmut Selman Sakar, Murat Kaynak, Amit Yedidia Dolev

2021

Wearable Soft Technologies for Haptic Sensing and Feedback

Herbert Shea, Ronan Julien Hinchet

Virtual reality (VR) and augmented reality (AR) systems have garnered recent widespread attention due to increased accessibility, functionality, and affordability. These systems sense user inputs and typically provide haptic, audio, and visual feedback to ...

WILEY-V C H VERLAG GMBH2020

Multimode Hydraulically Amplified Electrostatic Actuators for Wearable Haptics

Herbert Shea, Ronan Julien Hinchet, Edouard Franck Vincent Gustave Leroy

The sense of touch is underused in today’s virtual reality systems due to lack of wearable, soft, mm-scale transducers to generate dynamic mechanical stimulus on the skin. Extremely thin actuators combining both high force and large displacement are a long ...

Wiley2020

Single chamber multiple degree-of-freedom soft pneumatic actuator enabled by adjustable stiffness layers

Jamie Paik, Marco Salerno, Sébastien Douglas de Rivaz

Soft pneumatic actuators promise simple, adaptable, and safe manipulation, but the nature of pneumatic circuits limits the scalability of this approach. This paper introduces a method to augment the degrees-of-freedom of soft pneumatic actuators without in ...

2019

Design Methodology for Engineering Multifunctional Mesoscale Robots

Zhenishbek Zhakypov

In this thesis our research goal is to develop, study and demonstrate multifunctional multi-robot systems in mesoscale. Particularly, our goal is to study and demonstrate terrestrial multi-locomotion and collective behaviours with mesoscale robots, similar ...

EPFL2019

Dynamically reconfigurable DEAs incorporating shape memory polymer fibers

Herbert Shea, Bekir Aksoy

We present variable stiffness dielectric elastomer actuators (DEAs), combining a single DEA actuator with embedded shape memory polymer (SMP) fibers, which can be electrically addressed to locally reduce the stiffness by a factor of 100. The device accommo ...

SPIE-INT SOC OPTICAL ENGINEERING2019

Revisiting the drag reduction problem using adjoint-based distributed forcing of laminar and turbulent flows over a circular cylinder

François Gallaire, Edouard Boujo, Philippe Meliga

This study assesses the ability of a sensitivity-based, span-wise homogeneous control velocity distributed at the surface of a circular cylinder to cut down the cost of reducing drag by more classical techniques, e.g., base bleed and lateral suction. At Re ...

ELSEVIER SCIENCE BV2018

New soft robots really suck: Vacuum-powered systems empower diverse capabilities

Jamie Paik, Matthew Aaron Robertson

We introduce a vacuum-powered soft pneumatic actuator (V-SPA) that leverages a single, shared vacuum power supply and enables complex soft robotic systems with multiple degrees of freedom (DoFs) and diverse functions. In addition to actuation, other utilit ...

2017

Stretchable Materials for Robust Soft Actuators towards Assistive Wearable Devices

Basile Nicolas Audergon, Jamie Paik, Gunjan Agarwal

Soft actuators made from elastomeric active materials can find widespread potential implementation in a variety of applications ranging from assistive wearable technologies targeted at biomedical rehabilitation or assistance with activities of daily living ...

Nature Research2016

On Designing an Active Tail for Legged Robots: Simplifying Control via Decoupling of Control Objectives

Auke Ijspeert, Massimo Vespignani, Peter Eckert, Mostafa Ajallooeian

This work explores the possible roles of active tails for steady-state legged-locomotion. A series of simple models are proposed which capture the dynamics of an idealized running system with an active tail. The models suggest that the control objectives o ...

Emerald Group Publishing Ltd2016

Modeling Self-Assembly Across Scales: The Unifying Perspective of Smart Minimal Particles

Alcherio Martinoli, Massimo Mastrangeli, Grégory Mermoud

A wealth of current research in microengineering aims at fabricating devices of increasing complexity, notably by (self-)assembling elementary components into heterogeneous functional systems. At the same time, a large body of robotic research called swarm ...

2011

Monolithic piezoelectric actuators for miniature robotic systems

Jean-Marc Breguet

2004