Concept

Conservative force

Related publications (126)

Delicate yet strong: characterizing the electro-adhesion lifting force with a soft gripper

Herbert Shea, Jun Shintake, Vito Cacucciolo

Compliant grippers are one of the most promising soft robotic devices for industrial tasks. Soft grippers dramatically simplify grasping control because the gripper automatically conforms to the object's shape. A common limitation of soft structures is tha ...

IEEE2019

Development of a New Embedded Dynamometer for the Measurement of Forces and Torques at the Ski-Binding Interface

Alain Schorderet, Frédéric Meyer, Alain Michel Prenleloup

In alpine skiing, understanding the interaction between skiers and snow is of primary importance for both injury prevention as well as performance analysis. Risk of injuries is directly linked to constraints undergone by the skier. A force platform placed ...

2019

A Dynamical System Approach to Motion and Force Generation in Contact Tasks

Aude Billard, Mahdi Khoramshahi, Walid Amanhoud

Many tasks require the robot to enter in contact with surfaces, be it to take support, to polish or to grasp an object. It is crucial that the robot controls forces both upon making contact and while in contact. While many solutions exist to control for co ...

Robotics: Science and Systems (RSS)2019

A Dynamical System Approach to Motion and Force Generation in Contact Tasks

Aude Billard, Mahdi Khoramshahi, Walid Amanhoud

MIT PRESS2019

Frequency-Aware Model Predictive Control

Marco Hutter, Farbod Farshidian

Transferring solutions found by trajectory optimization to robotic hardware remains a challenging task. When the optimization fully exploits the provided model to perform dynamic tasks, the presence of unmodeled dynamics renders the motion infeasible on th ...

2019

Self-sensing, tunable monolayer MoS2 nanoelectromechanical resonators

Andras Kis, Dumitru Dumcenco, Guilherme Migliato Marega, Sajedeh Manzeli

Excellent mechanical properties and the presence of piezoresistivity make single layers of transition metal dichalcogenides (TMDCs) viable candidates for integration in nanoelectromechanical systems (NEMS). We report on the realization of electromechanical ...

2019

High Force Density Textile Electrostatic Clutch

Herbert Shea, Ronan Julien Hinchet

Clutches are key elements for blocking or coupling motion in wearable systems such as soft exoskeletons, haptic clothing, and rehabilitation equipment. Electrostatic clutches (ESclutches) are compact and light, making them particularly well-suited for wear ...

WILEY2019

AMBER and CHARMM Force Fields Inconsistently Portray the Microscopic Details of Phosphorylation

Veronika Juraskova

Phosphorylation of serine, threonine, and tyrosine is one of the most frequently occurring and crucial post-translational modifications of proteins often associated with important structural and functional changes. We investigated the direct effect of phos ...

AMER CHEMICAL SOC2019

A novel microfabrication platform for hybrid multilayer MEMS

Nahid Hosseini

In Atomic force microscopy (AFM), the tip-sample interaction force can be measured through two primary detection techniques: optical beam detection (OBD) and electrical (self-sensing) readout. Compared to the optical method, the convenience of the self-sen ...

EPFL2019

A portable three-degrees-of-freedom force feedback origami robot for human-robot interactions

Jamie Paik, Stefano Mintchev, Marco Salerno, Alexandre Thierry Cherpillod, Simone Scaduto

Haptic interfaces can recreate the experience of touch and are necessary to improve human-robot interactions. However, at present, haptic interfaces are either electromechanical devices eliciting very limited touch sensations or devices that may provide mo ...

SPRINGERNATURE2019

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