Publication

Experimental Characterization of Drobot: Towards Closed-Loop Control

Publications associées (53)

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This paper proposes a data-driven control design method for nonlinear systems that builds upon the Koopman operator framework. In particular, the Koopman operator is used to lift the nonlinear dynamics to a higher-dimensional space where the so-called obse ...

2024

Optically responsive dry cholesteric liquid crystal marbles

Dry liquid crystal marbles are structures that consist of cholesteric liquid crystal (CLC) droplets prepared by the mixture of chiral-doped thermotropic LCs encapsulated by cellulose nanocrystals (CNCs) that have been dried under ambient conditions. The ch ...

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Lifetime of dielectric elastomer actuators under DC electric fields

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Dielectric elastomer actuators (DEAs) are interesting soft actuators compared to other actuation technologies owing to large achievable actuation strains, high energy density and fast actuation. However, because DEAs need to be operated under high electric ...

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Closed-Loop Position Control of a Self-Sensing 3-DoF Origami Module With Pneumatic Actuators

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This letter presents closed-loop position control of a pneumatically actuated modular robotic platform "pneumagami" that can be stacked to enlarge work and design space for wearable applications. The module is a 3 degrees of freedom (DoF) parallel robot wi ...

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3D Printed Motor-Sensory Module Prototype for Facial Rehabilitation

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This work demonstrates the first 3D printed wearable motor-sensory module prototype designed for facial rehabilitation, focusing on facial paralysis. The novelty of the work lies in the fast fabrication of the first fully soft working prototype, including ...

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Frequency fluctuations in nanomechanical silicon nitride string resonators

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High quality factor (Q) nanomechanical resonators have received a lot of attention for sensor applications with unprecedented sensitivity. Despite the large interest, few investigations into the frequency stability of high-Q resonators have been reported. ...

AMER PHYSICAL SOC2020

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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 ...

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Multimode Hydraulically Amplified Electrostatic Actuators for Wearable Haptics

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The sense of touch is underused in today’s virtual reality systems due to lack of wearable, soft, mm-scale transducers to generate dynamic mechanical stimulus on the skin. Extremely thin actuators combining both high force and large displacement are a long ...

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Distributed LSM-based databases face throughput and latency issues due to load imbalance across instances and interference from background tasks such as flushing, compaction, and data migration. Hailstorm addresses these problems by deploying the database ...

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A Dual-Edge Pulsewidth Modulator for Fast Dynamic Response DC-DC Converters

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Voltage regulator modules are dc-dc converters that power modern microprocessors. They must exhibit a fast dynamic response, in order to achieve satisfactory regulation performance in spite of the rapid load current variations. The pulsewidth modulator is ...

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