Publications by Bekir Aksoy | EPFL Graph Search

Soft Monolithic Shielded Sensors to Measure Shear and Normal Forces for Local Slip Detection

Herbert Shea, Bekir Aksoy, Krishna Manaswi Digumarti

Soft force sensors enable closed loop control or autonomous operation of compliant robot systems. A stretchable force sensing surface containing an array of independent sensor units is reported. This design allows for the measurement of local shear and nor ...

Wiley2024

Slip Anticipation for Grasping Deformable Objects Using a Soft Force Sensor

Dario Floreano, Herbert Shea, Bekir Aksoy, Krishna Manaswi Digumarti, Euan John Kenneth Judd

Robots using classical control have revolutionised assembly lines where the environment and manipulated objects are restricted and predictable. However, they have proven less effective when the manipulated objects are deformable due to their complex and un ...

2022

Multistable shape programming of variable-stiffness electromagnetic devices

Herbert Shea, Bekir Aksoy

Programmable shape morphing enables soft machines to safely and effectively interact with the environment. Stimuli-responsive materials can transform 2D sheets into 3D geometries. However, most solutions cannot hold their shape at zero power, are limited t ...

AMER ASSOC ADVANCEMENT SCIENCE2022

Shielded soft force sensors

Herbert Shea, Vito Cacucciolo, Bekir Aksoy, Krishna Manaswi Digumarti, Giulio Grasso, Yufei Hao

Capacitive soft force sensors require electrical shielding from electromagnetic interference, but this shielding can mess with the effectiveness of the sensing electrodes. Here, Aksoy et al. solve this problem by patterning the central sensing elastomer la ...

Nature Portfolio2022

Shape programmable multi-stable polymer actuators

Bekir Aksoy

Recent advances in soft actuators have enabled systems that are safer to interact with, better at handling fragile objects, able to produce complex shapes with fewer components. However, being inherently soft differs these actuators from their rigid counte ...

EPFL2021

Geometric optimization of dielectric elastomer electrodes for dynamic applications

Herbert Shea, Bekir Aksoy, Emil Yan Garnell

Dielectric elastomers are soft actuators, made of an elastomer membrane sandwiched by compliant electrodes. Because of their high energy density and quick response, they are well suited for dynamic applications such as loudspeakers. Thanks to progress in t ...

ELSEVIER SCI LTD2021

Reconfigurable and Latchable Shape‐Morphing Dielectric Elastomers Based on Local Stiffness Modulation

Herbert Shea, Bekir Aksoy

Programmable soft materials exhibiting dynamically reconfigurable, reversible, fast, and latchable shape transformation are key for applications ranging from wearable tactile actuators to deployable soft robots. Multimorph soft actuator sheets with high lo ...

2020

Latchable microfluidic valve arrays based on shape memory polymer actuators

Herbert Shea, Nadine Besse, Bekir Aksoy

We report arrays of latching microfluidic valves based on shape memory polymers (SMPs), and show their applications as reagent mixers and as peristaltic pumps. The valve design takes advantage of the SMP's multiple stable shapes and over a hundred-fold sti ...

2019

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