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Electromagnetic actuator design for distributed stiffness

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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

Lighter and Stronger: Cofabricated Electrodes and Variable Stiffness Elements in Dielectric Actuators

Dario Floreano, Vivek Ramachandran, Yegor Piskarev, Jun Shintake, Michael Dickey

The inherent compliance of soft robots often makes it difficult for them to exert forces on surrounding surfaces or withstand mechanical loading. Controlled stiffness is a solution to empower soft robots with the ability to apply large forces on their envi ...

2020

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

Adaptive Compliant Foot Design for Salamander Robots

Auke Ijspeert, Kamilo Andres Melo Becerra, Robin Thandiackal, Laura Isabel Paez Coy

Aquatic stepping gaits in animals arguably display higher speed performance as well as energetic efficiency compared to other gaits using the limbs (i.e walking). This suggest that the foot structure and function contributes at a great extent on the propul ...

IEEE2019

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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

Recently developed soft pneumatic actuators (SPAs) powered by negative pressure have demonstrated great potential in the future of soft robotics for their high strength, intrinsic safety, low weight, and often simple design. The majority of these have only ...

2018

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Soft pneumatic actuators (SPAs) are found in mobile robots, assistive wearable devices, and rehabilitative technologies. While soft actuators have been one of the most crucial elements of technology leading the development of the soft robotics field, they ...

Mary Ann Liebert, Inc2017

Design and control of a low profile electromagnetic actuator for foldable pop-up mechanisms

Jamie Paik, Amir Firouzeh, Fabio Zuliani, Marco Salerno

Thin foldable origami mechanisms bring miniaturization and reconfiguration of complex structures allowing large volumetric change, low cost and versatility. Many applications require small robots with multiple capabilities including movement, sensing and c ...

Elsevier Science Sa2017

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A high-resolution flexible active skin with a matrix of 32x24 individually addressable tactile pixels on a 4 mm pitch is reported, based on shape memory polymer (SMP) actuators. The intrinsic multistable nature of SMPs, and their more than hundred-fold var ...

Wiley2017

Dexterity robotic hands can (Cummings, 1996) greatly enhance the functionality of humanoid robots, but the making of such hands with not only human-like appearance but also the capability of performing the natural movement of social robots is a challenging ...

Frontiers Media Sa2017