Publications de Sagar Dattatray Joshi

Sensorless force and displacement estimation in soft actuators

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 ...

ROYAL SOC CHEMISTRY2023

Multi-modal deformation and temperature sensing for context-sensitive machines

Jamie Paik, Fabio Zuliani, Sagar Dattatray Joshi, Neil Chennoufi, Robert Lawrence Baines

Owing to the remarkable properties of the somatosensory system, human skin compactly perceives myriad forms of physical stimuli with high precision. Machines, conversely, are often equipped with sensory suites constituted of dozens of unique sensors, each ...

Nature Portfolio2023

Haptigami: a fingertip haptic interface with vibrotactile and 3-DoF cutaneous force feedback

Jamie Paik, Sagar Dattatray Joshi, Frédéric Henri Vaskin Giraud

Wearable fingertip haptic devices aim to deliver somatosensory feedback for applications such as virtual reality, rehabilitation, and enhancing hardware/physical control interfaces. However, providing various kinds of feedback requires several Degrees of F ...

2022

Flow Path Optimization for Soft Pneumatic Actuators: Towards Optimal Performance and Portability

Jamie Paik, Harshal Arun Sonar, Sagar Dattatray Joshi

Soft pneumatic actuators (SPAs) are highly desirable for interactive robotics applications owing to their unconventional properties like high compliance, safe human-machine interaction and adaptable design space. The SPA dynamic behaviour is governed by pn ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021

Design and dynamic analysis of soft pneumatic systems for wearable robots

Sagar Dattatray Joshi

There are many challenges in the development of pneumatically powered soft robots due to the non-linearities of the materials used, non-linear pneumatic flow, complex non-standard designs, and high compliance that leads to loading-specific mechanical behav ...

EPFL2021

Pneumatic supply system parameter optimization for soft actuators

Jamie Paik, Sagar Dattatray Joshi

Soft actuators using pressurized air are being widely used due to their inherent compliance, conformability and customizability. These actuators are powered and controlled by pneumatic supply systems (PSSs) consisting of components such as compressors, val ...

2021

CMOS-Inspired Complementary Fluidic Circuits for Soft Robots

Jamie Paik, Sagar Dattatray Joshi, Sukho Song

The latest efforts in digital fluidic circuits' research aim at being electronics-free, light-weight, and compliant controllers for soft robots; however, challenges arise to adjust the fluidic circuit's digital logic operations. Currently there is no other ...

2021

Multi-DoF Force Characterization of Soft Actuators

Jamie Paik, Sagar Dattatray Joshi

Soft actuators provide highly adaptable actuator options for applications in wearable devices, grippers and mobile robots due to their inherent compliance. However, this compliance causes soft actuators to have virtually infinite degrees of freedom (DoF) o ...

2019

A soft portable wearable pneumatic interactive suit

Jamie Paik, Matthew Aaron Robertson, Harshal Arun Sonar, Sagar Dattatray Joshi, Tigmanshu Bhatnagar

A fully wearable system used for communication and information transfer between two users or between a user and a machine to render an effective and intuitive physical interface for combined input and output functions, the fully wearable system including a ...

2018