Publication

Soft Pneumatic Actuator Skin with Embedded Sensors

Related publications (36)

Graph Chatbot

Chat with Graph Search

Ask any question about EPFL courses, lectures, exercises, research, news, etc. or try the example questions below.

DISCLAIMER: The Graph Chatbot is not programmed to provide explicit or categorical answers to your questions. Rather, it transforms your questions into API requests that are distributed across the various IT services officially administered by EPFL. Its purpose is solely to collect and recommend relevant references to content that you can explore to help you answer your questions.

Sensorless force and displacement estimation in soft actuators

Jamie Paik, Sagar Dattatray Joshi

Sensing forms an integral part of soft matter based robots due to their compliance, dependence on loading conditions, and virtually infinite degrees of freedom. Previous studies have developed several extrinsic sensors and embedded them into soft actuators ...

ROYAL SOC CHEMISTRY2023

Active origami platforms for human-robot interactions

Frédéric Henri Vaskin Giraud

Robots are employed to assist humans in lengthy, challenging, and repetitive tasks. However, the fields of rehabilitation, haptics, and assistive robotics have shown a significant need to support and interact with people in their everyday life. To facilita ...

EPFL2022

Using redundant and disjoint time-variant soft robotic sensors for accurate static state estimation

Josephine Anna Eleanor Hughes, Antonia Georgopoulou Papadonikolaki

Soft robotic sensors have been limited in their applications due to their highly nonlinear time variant behavior. Current studies are either looking into techniques to improve the mechano-electrical properties of these sensors or into modelling algorithms ...

Institute of Electrical and Electronics Engineers Inc.2021

, , , ,

The method for controlling a single- or multi- powered robotic system, such as an exoskeleton, a prosthesis or a collaborative robot, that is physically interacting with a user, said system comprising at least one actuated joint; wherein the robot joint(s) ...

2020

Mechanically programmable, degradable & ingestible soft actuators

Josephine Anna Eleanor Hughes

One of the key challenges in soft robotics is the development of actuators which are truly soft and compliant, and can be adapted and tailored for different applications. In particular, the development of untethered soft actuators could enable robots to au ...

Institute of Electrical and Electronics Engineers Inc.2020

Dense and distributed tactile sensors are critical for robots to achieve human-like manipulation skills. Soft robotic sensors are a potential technological solution to obtain the required high dimensional sensory information unobtrusively. However, the des ...

Institute of Electrical and Electronics Engineers Inc.2020

, , ,

Soft robotic systems are composed of active and passively deformable structures which are intrinsically compliant, flexible, and elastic. Although these features offer benefits of adaptability, robustness, and safety, controlling these types of robots is a ...

IEEE2019

Closed-Loop Haptic Feedback Control Using a Self-Sensing Soft Pneumatic Actuator Skin

Stéphanie Lacour, Jamie Paik, Harshal Arun Sonar, Aaron Powers Gerratt

In this article, we achieve a closed-loop control over haptic feedback, first time for an entirely soft platform. We prototyped a novel self-sensing soft pneumatic actuator (SPA) with soft strain sensors, called SPA-skin, which withstands large multiaxial ...

2019

Design Methodology for Engineering Multifunctional Mesoscale Robots

Zhenishbek Zhakypov

In this thesis our research goal is to develop, study and demonstrate multifunctional multi-robot systems in mesoscale. Particularly, our goal is to study and demonstrate terrestrial multi-locomotion and collective behaviours with mesoscale robots, similar ...

EPFL2019

An autonomous untethered soft robotic insect

Yves Perriard, Herbert Shea, Yoan René Cyrille Civet, Xinru Ji

Insects are a constant source of inspiration for roboticists. Their compliant bodies allow them to squeeze through small openings and be highly resilient to impacts. However, making sub-gram autonomous soft robots, untethered and capable of responding inte ...

2019