Publication

Human-Human, Human-Robot and Robot-Robot Interaction While Walking: Data Analysis, Modelling and Control

Publications associées (31)

3D printed large amplitude torsional microactuators powered by ultrasound

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

Uncovering interactions between Descending Neurons as a functional principle of behavioural control

Jonas Friedrich Braun

Animals, including humans, exhibit a remarkable variety of complex behaviours. How the nervous system controls all these behaviours ranging from simple, stereotyped movements to flexible, adaptive actions is a central questions of neuroscience. One of the ...

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

SORI: A softness-rendering interface to unravel the nature of softness perception

Jamie Paik, Mustafa Mete, Hwayeong Jeong

Tactile perception of softness serves a critical role in the survival, well-being, and social interaction among various species, including humans. This perception informs activities from food selection in animals to medical palpation for disease detection ...

National Academy of Sciences2024

Frequency response of fiber reinforced DEAs

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

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

A lunar reconnaissance drone for cooperative exploration and high-resolution mapping of extreme locations

Erik Uythoven, Thomas Pfeiffer, Daniel Tataru, David Rodriguez Martinez

An efficient characterization of scientifically significant locations is essential prior to the return of humans to the Moon. The highest resolution imagery acquired from orbit of south-polar shadowed regions and other relevant locations remains, at best, ...

Pergamon-Elsevier Science Ltd2024

VDMNav: Software Architecture for Aerodynamically Constrained Navigation on Small Fixed-Wing Drones

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Navigation of drones is predominantly based on sensor fusion algorithms. Most of these algorithms make use of some form of Bayesian filtering with a majority employing an Extended Kalman Filter (EKF), wherein inertial measurements are fused with a Global N ...

2024

Geometric Learning: Leveraging differential geometry for learning and control

Bernardo Fichera

In this thesis, we concentrate on advancing high-level behavioral control policies for robotic systems within the framework of Dynamical Systems (DS). Throughout the course of this research, a unifying thread weaving through diverse fields emerges, and tha ...

EPFL2024

Augmenting locomotor perception by remapping tactile foot sensation to the back

Mohamed Bouri, Olaf Blanke, Oliver Alan Kannape, Atena Fadaeijouybari, Selim Jean Habiby Alaoui

Background :Sensory reafferents are crucial to correct our posture and movements, both reflexively and in a cognitively driven manner. They are also integral to developing and maintaining a sense of agency for our actions. In cases of compromised reafferen ...

BioMed Central2024

Reactive collision-free motion generation in joint space via dynamical systems and sampling-based MPC

Aude Billard, Nadia Barbara Figueroa Fernandez, Mikhail Koptev

Dynamical system (DS) based motion planning offers collision-free motion, with closed-loop reactivity thanks to their analytical expression. It ensures that obstacles are not penetrated by reshaping a nominal DS through matrix modulation, which is construc ...

Sage Publications Ltd2024

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