Stiffness variability in jamming of compliant granules and a case study application in climbing vertical shafts

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We introduce a computational pipeline for simulating and designing C-shells, a new class of planar-to-spatial deployable linkage structures. A C-shell is composed of curved flexible beams connected at rotational joints that can be assembled in a stress-fre ...

Sustainable development has emerged as a paramount consideration in various fields of industry, including construction, to preserve the environment and its finite resources. Lightweight structures, such as fiber-polymer composite structures, address both s ...

In this thesis several advances are made to the emerging field of 3D printed mechanical sensors. Techniques and processes were developed to enable the integration of highly conductive, and capacitive and piezoresistive sensing features embedded within 3D p ...

In labscale Faraday experiments, meniscus waves respond harmonically to small-amplitude forcing without threshold, hence potentially cloaking the instability onset of parametric waves. Their suppression can be achieved by imposing a contact line pinned at ...

Grasping and manipulation are challenging tasks that are nonetheless critical for many robotic systems and applications. A century ago, robots were conceived as humanoid automata. While conceptual at the time, this viewpoint remains influential today. Many ...

Foot devices have been ubiquitously used in surgery to control surgical equipment. Most common applications are foot switches for electro-surgery, endoscope positioning and tele-robotic consoles. Switches fall short of providing continuous control as requi ...

Biological flapping wing fliers operate efficiently and robustly in a wide range of flight conditions and are a great source of inspiration to engineers. The unsteady aerodynamics of flapping wing flight are dominated by large-scale vortical structures tha ...

Sensor system (1) comprising a frame (306) supporting a force-sensing tip (310) arranged to generate a signal based upon a force applied by said force-sensing tip (310) to a material to be tested,characterised in that said system (1) further comprises:- an ...

Rigid foldability allows an origami pattern to fold about crease lines without twisting or stretching component panels. It enables folding of rigid materials, facilitating the design of foldable structures. Recent study shows that rigid foldability is affe ...

Many manipulation tasks require coordinated motions for arm and fingers. Complexity increases when the task requires to control for the force at contact against a non-flat surface; This becomes even more challenging when this contact is done on a human. Al ...

Understanding the physical processes involved in snow avalanche‐obstacle interaction is essential to be able to estimate the pressure exerted on structures. Although avalanche impact pressure has been measured in field experiments for decades, the underlyi ...

Nanopores are nanometer sized openings that are the connection between two electrolyte filled reservoirs. The measurement of the ion transport flowing through such a pore allows to probe physically or biologically interesting phenomena. These range from th ...

When transported in confined geometries rigid fibers show interesting transport dynamics induced by friction with the top and bottom walls. Fiber flexibility causes an additional coupling between fiber deformation and transport and is expected to lead to m ...

We study the flow properties of red blood cells in confined channels, when the channel width is comparable to the cell size. We focus on the case of intermediate concentrations when hydrodynamic interactions between cells play a dominant role. This regime ...

Compliant mechanisms are of great interest in precision engineering. In this paper we propose a higher order continuation method to help their rigid-body kinematic design. The method helps to investigate the choice of a mechanism configuration through the ...

One of the main issues with the acceptance of robotic tools in schools is the extracurricular aspect of the learning activities using these robots. In the Cellulo project, we developed a novel robotic platform that aims to provide a ubiquitous, versatile a ...

The velocity of a liquid slug falling in a capillary tube is lower than predicted for Poiseuille flow due to presence of menisci, whose shapes are determined by the complex interplay of capillary, viscous, and gravitational forces. Due to the presence of m ...

Moving away from simple foot designs of current quadruped robots towards a more bio-inspired approach, a novel foot design was implemented on the quadruped robot Oncilla. These feet mimic soft paw-pads of dogs and cats with high traction and soft underlyin ...

The aim of this thesis was to explore the statistical physics and the mechanical properties of individual biomolecules, to study their interactions, and to develop new techniques based on atomic force microscopy (AFM). First, we exploit the high resolution ...

We analyse the force balance on a cylindrical drop in a Hele-Shaw cell, subjected to a Marangoni flow caused by a surface tension gradient. Depth-averaged Stokes equations, called Brinkman equations, are introduced and a general closed form solution is obt ...

Stiffness variability in jamming of compliant granules and a case study application in climbing vertical shafts

Chattez avec Graph Search

C-shells: Deployable Gridshells with Curved Beams

Energy dissipation in fiber-polymer composites adhesive joints under cyclic loading

3D printing of elastomeric mechanical sensors designed for human motion monitoring

Subharmonic parametric instability in nearly brimful circular cylinders: a weakly nonlinear analysis

Beyond Soft Hands: Efficient Grasping With Non-Anthropomorphic Soft Grippers

Foot Control of a Surgical Laparoscopic Gripper via 5DoF Haptic Robotic Platform: Design, Dynamics and Haptic Shared Control

Phenomenology and scaling of optimal flapping wing kinematics

Sensor system

Rigid foldability and mountain-valley crease assignments of square-twist origami pattern

Arm-hand motion-force coordination for physical interactions with non-flat surfaces using dynamical systems: Toward compliant robotic massage

Decoupling the role of inertia, friction and cohesion in dense granular avalanche pressure build‐up on obstacles

Fundamental Applications of Nanopores: Controlled DNA Translocations to Nanofluidics

Transport of flexible fibers in confined microchannels

Collective behavior of red blood cells in confined channels

Higher-order continuation method for the rigid-body kinematic design of compliant mechanisms

Windfield: Demonstrating Wind Meteorology with Handheld Haptic Robots

Gravity-driven slug motion in capillary tubes

Friction and damping of a compliant foot based on granular jamming for legged robots

Physical properties and interactions of biomolecules : an atomic force microscopy study

Marangoni induced force on a drop in a Hele Shaw cell