Publication

An under-actuated origami gripper with adjustable stiffness joints for multiple grasp modes

Publications associées (29)

Modeling and analysis of miniaturized magnetorheological valve for fluidic actuation

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

High Permittivity Siloxanes as Promising Materials for Dielectric Elastomer Transducers: From Synthesis to Application

Yauhen Sheima

The speed of change in the modern world is impressive. Within the last 50 years, many devices and technologies have significantly transformed their appearance, intrinsic characteristics and improved their performance. Computers have changed from the size o ...

EPFL2022

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

Josephine Anna Eleanor Hughes, Kai Christian Junge, Carlo Bosio

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 ...

FRONTIERS MEDIA SA2022

Controlling Maneuverability of a Bio-Inspired Swimming Robot Through Morphological Transformation

Nana Obayashi, Josephine Anna Eleanor Hughes, Kai Christian Junge, Francesco Stella

Biology provides many examples of where body adaption can be used to achieve a change in functionality. The feather star, an underwater crinoid which uses feather arms to locomote and feed, is one such system; it releases its arms to distract prey and vary ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Memory of Motion for Initializing Optimization in Robotics

Teguh Santoso Lembono

Many robotics problems are formulated as optimization problems. However, most optimization solvers in robotics are locally optimal and the performance depends a lot on the initial guess. For challenging problems, the solver will often get stuck at poor loc ...

EPFL2022

Wearable Robotics for Impaired Upper-Limb Assistance and Rehabilitation: State of the Art and Future Perspectives

Silvestro Micera

Despite more than thirty-five years of research on wearable technologies to assist the upper-limb and a multitude of promising preliminary results, the goal of restoring pre-impairment quality of life of people with physical disabilities has not been fully ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Synthesis of Novel Integrated Actuators Powered by Shape Memory Alloys

Sean Thomas

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 ...

EPFL2022

Powerful 2D Soft Morphing Actuator Propels Giant Manta Ray Robot

Miao Li, Yi Sun

Soft actuator is the main technology that drives the development of soft robotics as it defines the capabilities of soft machines. One of the key challenges in soft actuator research is to simultaneously produce complex morphing (e.g., surface morphing) an ...

WILEY2022

Highly Integrated Multi-Material Fibers for Soft Robotics

Bastien Schyrr, Fabien Sorin, Nicola Bartolomei, Stella Andréa Françoise Laperrousaz, Chaoqun Dong, Andreas Leber, Hritwick Banerjee

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 ...

WILEY2022