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Using redundant and disjoint time-variant soft robotic sensors for accurate static state estimation

Publications associées (36)

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Dielectric elastomer actuators (DEAs) are a promising soft actuator technology for robotics. Adding robotic functionalities--folding, variable stiffness, and adhesion--into their actuator design is a novel method to create functionalized robots with simpli ...

EPFL2016

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Wearable assistive robotics is a modern field where intelligent actuated systems work in collaboration with the body to replace a lost limb, to enhance performances (e.g. carrying load, walking, running, jumping) or to train or rehabilitate specific activi ...

Springer-Verlag Berlin2016

The latest wearable technologies demand more intuitive and sophisticated interfaces for communication, sensing, and feedback closer to the body. Evidently, such interfaces require flexibility and conformity without losing their functionality even on rigid ...

Frontiers Media Sa2016

Modeling, Characterization and Control of a Novel Torsional Shape Memory Alloy (SMA) Actuator

Jamie Paik, Zhenishbek Zhakypov, Jian-Lin Huang

Thermally activated shape memory alloy (SMA) actuators are direct-driven and produce high power density with design versatility. However, beyond their linear actuation in spring forms there is little variety and their application in robotics is limited by ...

Institute of Electrical and Electronics Engineers2016

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To be implemented at the industrial scale, any dielectric elastomer actuator (DEA) must demonstrate long term reliability. For this purpose, a novel and fast DEA aging setup for high cycle tests has been developed. It monitors the in-plane strain and the c ...

2016

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The soft pneumatic actuators (SPAs) are a solution toward the highly customizable and light actuators with the versatility of actuation modes, and an inherent compliance. Such flexibility allows SPAs to be considered as alternative actuators for wearable r ...

2015

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Soft Pneumatic Actuator skin (SPA-skin) is a novel concept of ultra-thin (< 1 mm) sensor embedded actuators with distributed actuation points that could cover soft bodies. This highly customizable and flexible SPA-skin is ideal for providing proprioceptive ...

Ieee2014

Effect of mechanical parameters on dielectric elastomer minimum energy structures

Dario Floreano, Herbert Shea, Samuel Rosset, Jun Shintake

Soft robotics may provide many advantages compared to traditional robotics approaches based on rigid materials, such as intrinsically safe physical human-robot interaction, efficient/stable locomotion, adaptive morphology, etc. The objective of this study ...

Spie-Int Soc Optical Engineering2013

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The robotic origami (Robogami) is a low-profile, sheet-like robot with multi degrees-of-freedom (DoF) that embeds different functional layers. Due to its planar form, it can take advantage of precise 2D fabrication methods usually reserved for micro and na ...

Ieee2013

Extremely robust and conformable capacitive pressure sensors based on flexible polyurethane foams and stretchable metallization

Stéphanie Lacour, Douglas Cameron Watson, Hugues Vandeparre

Microfabricated capacitive sensors prepared with elastomeric foam dielectric films and stretchable metallic electrodes display robustness to extreme conditions including stretching and tissue-like folding and autoclaving. The open cellular structure of the ...

American Institute of Physics2013