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Soft Robot Shape Estimation With IMUs Leveraging PCC Kinematics for Drift Filtering

Publications associées (36)

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Highly Integrated Multi-Material Fibers for Soft Robotics

Fabien Sorin, Stella Andréa Françoise Laperrousaz, Hritwick Banerjee, Andreas Leber, Chaoqun Dong, Nicola Bartolomei, Bastien Schyrr

Soft robots are envisioned as the next generation of safe biomedical devices in minimally invasive procedures. Yet, the difficulty of processing soft materials currently limits the size, aspect-ratio, manufacturing throughput, as well as, the design comple ...

WILEY2022

Sensing soft robot shape using imus: An experimental investigation

Josephine Anna Eleanor Hughes, Francesco Stella

Shape estimation of soft robotic systems is challenging due to the range of deformations that can be achieved, and the limited availability of physically compatible sensors. We propose a method of reconstruction using Inertial Measurement Units (IMUs), whi ...

Springer Verlag2021

Comprehensive Interactive Soft Interfaces for Wearable Tactile Feedback

Harshal Arun Sonar

As the field of robotics continues to grow outside the manufacturing environment into our daily lives, the interactions between humans and robots are increasingly becoming close and dynamic. This type of environment requires robots to be less rigid, multi- ...

EPFL2021

The need for a new generation of robots able to safely locomote and manipulate beside or cooperatively with humans or in un-constructed environments has recently emerged as a priority of the robotics community. ln the past two decades, this challenge has b ...

EPFL2021

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Fast advances in soft robotics and tissue engineering demand for new soft materials whose mechanical properties can be interchangeably and locally varied, thereby enabling, for example, the design of soft joints within an integral material. Inspired by nat ...

ROYAL SOC CHEMISTRY2021

3D printable sensorized soft gelatin hydrogel for multi-material soft structures

Josephine Anna Eleanor Hughes, Kieran Daniel Gilday

The ability to 3D print soft materials with integrated strain sensors enables significant flexibility for the design and fabrication of soft robots. Hydrogels provide an interesting alternative to traditional soft robot materials, allowing for more varied ...

Institute of Electrical and Electronics Engineers Inc.2021

Flame-retardant coatings are crucial for intelligent systems operating in high-temperature (300-800 degrees C) scenarios, which typically involve multi-joint discrete or continuous kinematic systems. These multi-segment motion generation systems call for c ...

MARY ANN LIEBERT, INC2021

A Dexterous Soft Robotic Hand for Delicate In-Hand Manipulation

In this letter, we show that soft robotic hands provide a robust means of performing basic primitives of in-hand manipulation in the presence of uncertainty. We first discuss the design of a prototype hand with dexterous soft fingers capable of moving obje ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2020

Soft and stretchable liquid metal transmission lines as distributed probes of multimodal deformations

Fabien Sorin, Andreas Leber, Chaoqun Dong, Nicola Bartolomei, Rajasundar Chandran

Mechanical sensing represents a key functionality in soft electronics for applications in health monitoring, human–machine interaction, or soft robotics. Current approaches typically rely on intricate networks of sensors specific to one type of deformation ...

2020

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Machines made of soft materials bridge life sciences and engineering. Advances in soft materials have led to skin-like sensors and muscle-like actuators for soft robots and wearable devices. Flexible or stretchable counterparts of most key mechatronic comp ...

2019