Publications de Yi Sun | EPFL Graph Search

Instant variable stiffness in cardiovascular catheters based on fiber jamming

Variable stiffness (VS) has revolutionized miniature surgical instruments, including cardiovascular catheters for minimally invasive surgeries (MISs), enabling advanced capabilities in stiffness modulation and multi-curvature bending. However, existing VS ...

American Association for the Advancement of Science (AAAS)2025

Fast-Response Variable-Stiffness Magnetic Catheters for Minimally Invasive Surgery

Dario Floreano, Yegor Piskarev, Yi Sun, Jun Shintake, Matteo Righi

In minimally invasive surgery, such as cardiac ablation, magnetically steered catheters made of variable-stiffness materials can enable higher dexterity and higher force application to human tissue. However, the long transition time between soft and rigid ...

2024

Powerful 2D Soft Morphing Actuator Propels Giant Manta Ray Robot

Miao Li, Yi Sun

Soft actuator is the main technology that drives the development of soft robotics as it defines the capabilities of soft machines. One of the key challenges in soft actuator research is to simultaneously produce complex morphing (e.g., surface morphing) an ...

WILEY2022

Dual Stiffness Tensegrity Platform for Resilient Robotics

Dario Floreano, Stefano Mintchev, Yi Sun, Davide Zappetti

Collision resilience is an important feature of robots deployed in unstructured and partially unpredictable environments. Herein, a novel dual stiffness (DS) tensegrity platform to integrate collision resilience into a robot body is proposed. The proposed ...

2022

Design of multi-stimuli responsive hybrid pneumatic-magnetic soft actuator with novel channel integration

Yi Sun

Smart polymeric materials based soft actuators are flexible, lightweight, and can deliver a wide range of actu-ations. Thus, they are ideal for applications requiring delicate and unconventional motions, such as biomedical and soft robotics. This paper rep ...

2022

Electro-Adhesive Tubular Clutch for Variable-Stiffness Robots

Dario Floreano, Yi Sun, Hoang Vu Phan, Krishna Manaswi Digumarti, Omar Aloui

Electro-adhesive clutches have become effective tools for variable stiffness functions in many robotic systems due to their light weight, high speed and strong brake force. In this paper, we present a novel, tubular design of an electro-adhesive clutch. Ou ...

IEEE2022

Guidelines for the use and interpretation of assays for monitoring autophagy (3rd edition)

Françoise Gisou van der Goot Grunberg, Maurizio Molinari, Yi Sun, Chong Liu, Giuseppe Russo, Jian Wang, Peng Wang, Wei Chen, Darren Moore, Li Zhang

Taylor & Francis Inc2016

Characterization of silicone rubber based soft pneumatic actuators

Jamie Paik, Yi Sun, Yun Seong Song

2013

Soft Robot for Gait Rehabilitation of Spinalized Rodents

Silvestro Micera, Grégoire Courtine, Jamie Paik, Yi Sun, Joachim von Zitzewitz, Yun Seong Song, Rubia van den Brand

Soft actuators made of highly elastic polymers allow novel robotic system designs, yet application-specific soft robotic systems are rarely reported. Taking notice of the characteristics of soft pneumatic actuators (SPAs) such as high customizability and l ...

Ieee2013

Characterization of Silicone Rubber Based Soft Pneumatic Actuators

Jamie Paik, Yi Sun, Yun Seong Song

Conventional pneumatic actuators have been a popular choice due to their decent force/torque output. Nowadays, new generation of pneumatic actuator made out of highly compliant elastomers, which we call soft pneumatic actuators (SPA), are drawing increasin ...

Ieee2013