A bidirectional shape memory alloy folding actuator
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Research interest into the miniaturisation of micro-robots has soared in recent years due to the availability of suitable integrated actuators. The reduction in size of these components is achieved through the implementation of Self-Sensing Actuation (SSA) ...
Elastic gridshells comprise an initially planar network of elastic rods that are actuated into a shell-like structure by loading their extremities. The resulting actuated form derives from the elastic buckling of the rods subjected to inextensibility. We s ...
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 ...
Soft wearable robots could provide support for lower and upper limbs, increase weight lifting ability, decrease energy required for walking and running, and even provide haptic feedback. However, to date most of wearable robots are based on electromagnetic ...
Soft pneumatic actuators promise simple, adaptable, and safe manipulation, but the nature of pneumatic circuits limits the scalability of this approach. This paper introduces a method to augment the degrees-of-freedom of soft pneumatic actuators without in ...
During design a mechanical structure such as a robotic finger, modeling parts and designing joints are two time-consuming steps. This paper presents a method for design and fabrication of a humanoid robotic finger that intends to mimic the human finger in ...
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 ...
It is often desirable for humanoid robots to have dexterous hands and perform human-like grasps. This requires a deliberate design of hands, in addition to a good actuation system and an efficient 3D vision system. In this paper, we present a simple method ...
Adaptive joints are structural joints made of materials with enhanced transduction properties that can vary their stiffness via solid-state actuation (e.g. thermal, mechanical). In this work, stiffness tuning is used to switch the joint between a ‘locked’ ...
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 ...