Publications de Krishna Manaswi Digumarti

Soft Monolithic Shielded Sensors to Measure Shear and Normal Forces for Local Slip Detection

Herbert Shea, Bekir Aksoy, Krishna Manaswi Digumarti

Soft force sensors enable closed loop control or autonomous operation of compliant robot systems. A stretchable force sensing surface containing an array of independent sensor units is reported. This design allows for the measurement of local shear and nor ...

Wiley2024

Electroadhesive gripping system and method for gripping an object

Herbert Shea, Vito Cacucciolo, Krishna Manaswi Digumarti

An electroadhesive gripping system and a method for gripping and manipulating an object are disclosed. The invention provides a novel approach particularly useful to pick fabrics or otherwise flat and flexible objects including a method relying on electroa ...

2023

Slip Anticipation for Grasping Deformable Objects Using a Soft Force Sensor

Dario Floreano, Herbert Shea, Bekir Aksoy, Krishna Manaswi Digumarti, Euan John Kenneth Judd

Robots using classical control have revolutionised assembly lines where the environment and manipulated objects are restricted and predictable. However, they have proven less effective when the manipulated objects are deformable due to their complex and un ...

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

Shielded soft force sensors

Herbert Shea, Vito Cacucciolo, Bekir Aksoy, Krishna Manaswi Digumarti, Giulio Grasso, Yufei Hao

Capacitive soft force sensors require electrical shielding from electromagnetic interference, but this shielding can mess with the effectiveness of the sensing electrodes. Here, Aksoy et al. solve this problem by patterning the central sensing elastomer la ...

Nature Portfolio2022

Dexterous textile manipulation using electroadhesive fingers

Herbert Shea, Vito Cacucciolo, Krishna Manaswi Digumarti

Handling of fabric is a crucial step in the manufacturing of garments. This task is typically performed by trained workers who manipulate one sheet at a time, thus introducing a bottleneck in the automation of the textile industry. This paper seeks to addr ...

IEEE2021