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Prof. Jamie Paik is founder and director of the Reconfigurable Robotics Lab (RRL) of Swiss Federal Institute of Technology (EPFL) and a core member of Swiss NCCR robotics group. The RRL leverages expertise in multi-material fabrication and smart material actuation for novel robot designs. She received her PhD in Seoul National University on designing humanoid arm and a hand while being sponsored by Samsung Electronics. This 7-DoF humanoid arm was the lightest in the literature at that time being 3.7kg including the 8-DoF hand. During her Postdoctoral positions in the Institut des Systems Intelligents et de Robotic in Universitat Pierre Marie Curie, Paris VI, she developed laparoscopic tools named JAiMY that are internationally patented and commercialized now by Endocontrol-medical.com. At Harvard University’s Microrobotics Laboratory, she started developing unconventional robots that push the physical limits of material and mechanisms. Her latest research effort is in soft robotics including self-morphing Robogami (robotic origami) that transforms its planar shape to 2D or 3D by folding in predefined patterns and sequences, just like the paper art, origami.

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ENG-615: Topics in Autonomous Robotics

Students will be introduced to modern approaches in control and design of autonomous robots through lectures and exercises.

ME-302: Mechanical design principles

We will study the working principles and physics of essential mechanical components for diverse applications in engineering mechanics. The course will serve as a vehicle to introduce and synthesize new mechanisms to strengthen the often-intuitive design processes.

ME-410: Mechanical product design and development

Study and explore design principles of the different mechatronic components and systems. We will cover in-depth especially on meso-scale actuators, sensors and body construction methods.

Actionneur

Dans une machine, un actionneur est un objet qui transforme l’énergie qui lui est fournie en un phénomène physique qui fournit un travail, modifie le comportement ou l’état d'un système. Dans les

Robot

vignette|Atlas (2013), robot androïde de Boston Dynamics vignette|Bras manipulateurs dans un laboratoire (2009) vignette|NAO (2006), robot humanoïde éducatif d'Aldebaran Robotics vignette|DER1 (2005),

Robotique

thumb|upright=1.5|Nao, un robot humanoïde. thumb|upright=1.5|Des robots industriels au travail dans une usine. La robotique est l'ensemble des techniques permettant la conception et la réalisation de

Hand and face somatotopy shown using MRI-safe vibrotactile stimulation with a novel soft pneumatic actuator (SPA)-skin interface

Jamie Paik, Harshal Arun Sonar

The exact somatotopy of the human facial representation in the primary somatosensory cortex (S1) remains de-bated. One reason that progress has been hampered is due to the methodological challenge of how to apply automated vibrotactile stimuli to face areas in a manner that is: (1) reliable despite differences in the cur-vatures of face locations; and (2) MR-compatible and free of MR-interference artefacts when applied in the MR head-coil. Here we overcome this challenge by using soft pneumatic actuator (SPA) technology. SPAs are made of a soft silicon material and can be in-or deflated by means of airflow, have a small diameter, and are flexible in structure, enabling good skin contact even on curved body surfaces (as on the face). To vali-date our approach, we first mapped the well-characterised S1 finger layout using this novel device and con-firmed that tactile stimulation of the fingers elicited characteristic somatotopic finger activations in S1. We then used the device to automatically and systematically deliver somatosensory stimulation to different face locations. We found that the forehead representation was least distant from the representation of the hand. Within the face representation, we found that the lip representation is most distant from the forehead represen-tation, with the chin represented in between. Together, our results demonstrate that this novel MR compatible device produces robust and clear somatotopic representational patterns using vibrotactile stimulation through SPA-technology.

ACADEMIC PRESS INC ELSEVIER SCIENCE2023

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Sensorless force and displacement estimation in soft actuators

Sagar Dattatray Joshi, Jamie Paik

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 for displacement and force estimation. What has not been investigated is whether soft robots themselves possess intrinsic sensing capabilities, especially in the case of pneumatically powered soft robots. Such an approach, that exploits the inherent properties of a system toward sensing is called sensorless estimation. Here, we introduce sensorless estimation for the first time in pneumatically powered soft actuators. Specifically, we show that the intrinsic properties of pressure and volume can be used to estimate the output force and displacement of soft actuators. On testing this approach with a bending actuator, we observed errors under 10% and 15% for force and displacement estimation respectively, with randomized and previously unseen test conditions. We also show that combining this approach with a conventional embedded sensor improves estimation accuracy due to sensing redundancy. By modelling soft actuators additionally as sensors, this work presents a new, readily implementable sensing modality that helps us better understand the highly complex behaviour of soft matter based robots.

ROYAL SOC CHEMISTRY2023

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3PAC: A Plug-and-Play System for Distributed Power Sharing and Communication in Modular Robots

Christoph Heinrich Belke, Kevin Andrew Holdcroft, Jamie Paik

In modular robotics, there is classically a compromise between coupling complexity and functionality. The mechanical and electrical designs are linked, such that adding electrical features often requires redesigning the mechanical components. However, increasing the functionality of each electrical contact adds capabilities or redundancies to existing robots without redesigning the coupling and allows for fewer contacts in new designs. This article presents a power distribution and local communication system for modular robotics, using only three electrical contacts between modules. The proposed system can be easily recreated, modeled, and outfitted into an existing modular robotic coupling to introduce power sharing, communication, or redundancy, without increasing the couplings mechanical complexity. By focusing on local power transfer, the system is scalable in number as well as coherent with modularity. We demonstrate that, through this system, distributed power sharing can improve the runtime of a simple modular robotic system by up to 62% while maintaining local communication streams. The circuit is modeled through empirical characteristics and therefore the same methods can predict the power distribution accurately in any other modular robot.

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

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