Related papers: A compact two-phase twisted string actuation syste…
We study the evolution of an elastic string into the pinned state at driving forces slightly below the depinning threshold force $F_c$. We quantify the temporal evolution of the string by an {\it activity function} $A(t)$ representing the…
Vehicle power-trains use a variable transmission (multiple gear-ratios) to minimize motor size and maximize efficiency while meeting a wide-range of operating points. Robots could similarly benefit from variable transmission to save weight…
Inter-twisted bilayers of two-dimensional (2D) materials can host low-energy flat bands, which offer opportunity to investigate many intriguing physics associated with strong electron correlations. In the existing systems, ultra-flat bands…
Prestrained elastic networks arise in a number of biological and technological systems ranging from the cytoskeleton of cells to tensegrity structures. To understand the response of such a network as a function of the prestrain, we consider…
To achieve high-accuracy manipulation in the presence of unknown disturbances, we propose two novel efficient and robust motion control schemes for high-dimensional robot manipulators. Both controllers incorporate an unknown system dynamics…
Many complex systems satisfy a set of constraints on their degrees of freedom, and at the same time, they are able to work and adapt to different conditions. Here, we describe the emergence of this ability in a simplified model in which the…
This paper presents a novel, modular, cable-driven soft robotic arm featuring multi-segment reconfigurability. The proposed architecture enables a stackable system with independent segment control, allowing scalable adaptation to diverse…
Continuum arms, such as trunk and tentacle robots, lie between the two extremities of rigid and soft robots and promise to capture the best of both worlds in terms of manipulability, dexterity, and compliance. This paper proposes a new…
We present a model for the actin contractile ring of adherent animal cells. The model suggests that the actin concentration within the ring and consequently the power that the ring exerts both increase during contraction. We demonstrate the…
We consider a suspended elastic rod under longitudinal compression. The compression can be used to adjust potential energy for transverse displacements from harmonic to double well regime. The two minima in potential energy curve describe…
In order to bring contraction analysis into the very fruitful and topical fields of stochastic and Bayesian systems, we extend here the theory describes in \cite{Lohmiller98} to random differential equations. We propose new definitions of…
Twisted and coiled polymer actuators (TCPAs) generate large contractile mechanical work mimicking natural muscles, which makes them suitable for robotics and health-assistive devices. Understanding the mechanism of nylon TCPA remains…
In this work, we propose a novel phase-field model for the simulation of two-phase flows that is accurate, conservative, bounded, and robust. The proposed model conserves the mass of each of the phases, and results in bounded transport of…
Tip-extending soft robots that "grow" via pneumatic eversion of their body material have demonstrated applications in exploration of cluttered environments. During growth, the motion and force of the robot tip can be controlled in three…
In this paper, we introduce a consistency-driven dual LSTM framework for accurately learning both the forward and inverse kinematics of a pneumatically actuated soft robotic arm integrated into a wearable device. This approach effectively…
Classical rigid-bodied robotic systems are presented with proven success in theoretical development and industrial applications, are recently challenged by the emergence of soft robotics due to a growing need in physical human-robot…
The QCD string model is employed to evaluate the masses of orbitally and radially excited heavy-light mesons and lightest hybrids in the spectrum of charmonium and bottomonium. The number of parameters of the model is reduced to only seven…
Soft robots, made from compliant materials, exhibit complex dynamics due to their flexibility and high degrees of freedom. Controlling soft robots presents significant challenges, particularly underactuation, where the number of inputs is…
We give various examples of asymmetric orbifold models to possess intertwining currents which convert untwisted string states to twisted ones, and vice versa, and see that such asymmetric orbifold models are severely restricted. The…
Resuscitative thoracotomy, a high-risk procedure involving open heart massage, serves as a last resort for life-threatening conditions like penetrating chest wounds, severe blunt trauma, or surgery-related cardiac arrest. However, its…