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Mobile manipulators in the home can enable people with cervical spinal cord injury (cSCI) to perform daily physical household tasks that they could not otherwise do themselves. However, paralysis in these users often limits access to…
We report on the electrically driven rotation of $2.4~\mu$m-radius, optically levitated dielectric microspheres. Electric fields are used to apply torques to a microsphere's permanent electric dipole moment, while angular displacement is…
In this experiment, a closed-loop discrete time system for speed control of a permanent magnet DC motor with discrete PI controller is implemented in embedded platform. The design & analysis of the system is based on the mathematical model…
Distributed Manipulator Systems, composed of arrays of robotic actuators necessitate dense actuator arrays to effectively manipulate small objects. This paper presents a system composed of modular 3-DoF robotic tiles interconnected by a…
This paper concerns the experimental validation of some mathematical models previously developed by the authors, to predict the static behaviour of microelectrostatic actuators, basically free-clamped microbeams. This layout is currently…
In recent times, developments in field of communication and robotics has progressed with leaps and bounds. In addition, the blend of both disciplines has contributed heavily in making human life easier and better. So in this work while…
Miniature robots are untethered actuators, which have significant potential to make existing minimally invasive surgery considerably safer and painless, and enable unprecedented treatments because they are much smaller and dexterous than…
In this paper we present a study of a specific class of vibration-driven robots: the brushbots. In a bottom-up fashion, we start by deriving dynamic models of the brushes and we discuss the conditions under which these models can be…
In this paper, the authors propose a two-dimensional, wide dynamic range, linear displacement sensor using microwave methods. The microwave sensor circuit employs a cylindrical dielectric resonator proximity coupled to a pair of orthogonal…
This paper proposes a method for direct torque control of Brushless DC (BLDC) motors. Evaluating the trapezium of back-EMF is needed, and is done via a sliding mode observer employing just one measurement of stator current. The effect of…
Robots operating in everyday environments must navigate and manipulate within densely cluttered spaces, where physical contact with surrounding objects is unavoidable. Traditional safety frameworks treat contact as unsafe, restricting…
Natural organisms utilize distributed actuation through their musculoskeletal systems to adapt their gait for traversing diverse terrains or to morph their bodies for varied tasks. A longstanding challenge in robotics is to emulate this…
Soft robots are promising for manipulation tasks thanks to their compliance, safety, and high degree of freedom. However, the commonly used bidirectional continuum segment design means soft robotic manipulators only function in a limited…
Magnetic micro-robots have demonstrated immense potential in biomedical applications, such as in vivo drug delivery, non-invasive diagnostics, and cell-based therapies, owing to their precise maneuverability and small size. However, current…
The Dark Energy Spectroscopic Instrument (DESI) is under construction to measure the expansion history of the Universe using the Baryonic Acoustic Oscillation technique. The spectra of 35 million galaxies and quasars over 14000 sq deg will…
Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact control is compliant control, \textit{i.e.}, controlling the…
A novel concept to enhance the photo-detection efficiency (PDE) of silicon photomultipliers (SiPMs) has been applied and remarkable positive results can be reported. This concept uses arrays of microlenses to cover every second SiPM pixel…
We design and experimentally demonstrate an architecture for achieving navigation-grade, fiber-packaged optomechanical accelerometers that can operate with a large dynamic range, over a wide temperature range, and without sophisticated…
The assembly of printed circuit boards (PCBs) is one of the standard processes in chip production, directly contributing to the quality and performance of the chips. In the automated PCB assembly process, machine vision and coordinate…
In order to expand the operational range and payload capacity of robots, wire-driven robots that leverage the external environment have been proposed. It can exert forces and operate in spaces far beyond those dictated by its own structural…