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A transformable tensegrity-footbridge system

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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

This paper gives a new formulation to design adaptive structures through total energy optimization (TEO). This methodology enables the design of truss as well as tensegrity configurations that are equipped with linear actuators to counteract the effect of ...

2021

A High Efficiency Pneumatic Drive System Using Vane-Type Semi-Rotary Actuators

Alfred Rufer

A compressed air driven generator is proposed, where the pneumatic energy is converted into mechanical energy using two vane-type rotational actuators. The use of a second actuator with a higher displacement in order to produce a thermodynamic expansion al ...

UNIV NIS2021

Fluid-actuated haptic device and methods for using thereof

Jamie Paik, Zhenishbek Zhakypov

A haptic device is disclosed comprising at least one fluidic actuator operatively connectable with pumping means; and a plurality of movable members mechanically connected with said at least one fluidic actuator, wherein said movable members can perform a ...

2021

Sensorless Quasi-static Piezoelectric Actuator for Micro-Robotics

Louis Antoine Masson

Research interest into the miniaturisation of micro-robots has soared in recent years due to the availability of suitable integrated actuators. The reduction in size of these components is achieved through the implementation of Self-Sensing Actuation (SSA) ...

EPFL2020

This paper introduces a new approach to reduce end-to-end costs in large-scale replicated systems built under a Byzantine fault model. Specifically, our approach transforms a given replicated state machine (RSM) to another RSM where nodes incur lower costs ...

IEEE2020

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Soft robots leverage deformable bodies to achieve different types of locomotion, improve transportability, and safely navigate cluttered environments. In this context, variable-stiffness structures provide soft robots with additional properties, such as th ...

2019

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This paper presents new implementations of a design method to obtain minimum energy adaptive structures. The design method was formulated in previous work [1, 2] for reticular structures equipped with sensors (e.g. strain, optical) and linear actuators. Th ...

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

Improved modelling of a monomorph piezoelectric actuator for linear self-sensing applications

Yves Perriard, Louis Antoine Masson

Based on a previous approach for the modelling of piezoelectric monomorph benders, a new, more complete, analytical model is proposed. Some previously neglected features of the actuator stack, notably the thickness of the electrodes and the presence of iso ...

IEEE2019