Publication
Design and Validation of a Modular One-To-Many Actuator for a Soft Wearable Exosuit
Related publications (71)
High energy-density electrostatic actuators for soft robotics
This thesis reports high energy-density electrostatic actuators for use in soft robotics. This thesis has two main parts: a) a detailed study of electro-adhesion using microfabricated electrodes, and b) a flexi-ble fiber-shaped linear motor.Electro-adhesio ...
EPFL2024Coupled Rotary and Oscillatory Motion in a Second-Generation Molecular Motor Pd Complex
Molecular machines offer many opportunities for the development of responsive materials and introduce autono-mous motion in molecular systems. While basic molecular switches and motors carry out one type of motion upon being exposed to an external stimulus ...
AMER CHEMICAL SOC2023A Proximal-Point Lagrangian-Based Parallelizable Nonconvex Solver for Bilinear Model Predictive Control
Colin Neil Jones, Yuning Jiang, Yingzhao Lian
Nonlinear model predictive control (NMPC) has been widely adopted to manipulate bilinear systems with dynamics that include products of the inputs and the states. These systems are ubiquitous in chemical processes, mechanical systems, and quantum physics, ...
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023Comparison of PI and Adaptive Fuzzy Controllers for Position Tracking of Servo System with Variable Loaded BLDC Motor
In recent years, several industries have widely applied BLDC servomotors for various purposes that they almost need a control system to be accurate and robust. In this paper, we compare an adaptive fuzzy controller and PI controller for BLDC servomotor pos ...
IEEE2022Small scale very high speed slotless permanent magnet motors
This research work has been triggered by an industrial project aimed at modelling and manufacturing a small-scale very high speed motor. Very high speed electrical motors offer the main advantage of reducing the size of a system. Indeed, at constant output ...
EPFL2020A convex model for induction motor starting transients imbedded in an OPF-based optimization problem
Large horsepower induction motors play a critical role in the operation of industrial facilities. In this respect, the distribution network operators dedicate a high priority to the operational safety of these motor loads. In this paper, the induction moto ...
ELSEVIER SCIENCE SA2020A hybrid control strategy for force and precise end effector positioning of a twisted string actuator
Jamie Paik, Andres San Millan Rodriguez
We propose a new control approach for the twisted string actuation (TSA) system; a hybrid control scheme consisting of two nested loops, considering the motor angle and the axial force at the clamping point of the actuator as the system outputs. We show th ...
2020Novel Optimized Shape and Topology for Slotless Windings in BLDC Machines
Yves Perriard, Douglas Martins Araujo, Adrien Jean-Michel Thabuis, Guillaume Paul-André Burnand
Slotless windings are commonly used in small size high-speed electrical brushless dc machines. Unlike slotted windings, forced to follow the direction of slots, slotless windings can be freely arranged in the airgap. This represents several opportunities f ...
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2020Programmable Fluidic Networks Design for Robotic Origami Sequential Self-Folding
Jamie Paik, Mustafa Mete, Zhenishbek Zhakypov, Julien Fiorentino
Self-folding enables compact, deployable and reconfigurable structures for close and far remote applications. As the degree-of-freedom in achieving folded shapes is dictated by the number of actuators, distributed on a quasi-2-D lattice, their design remai ...
2019Control theory in biology and medicine: Introduction to the special issue
From September-December 2017, the Mathematical Biosciences Institute at Ohio State University hosted a series of workshops on control theory in biology and medicine, including workshops on control and modulation of neuronal and motor systems, control of ce ...
SPRINGER2019