Related papers: Printing-while-moving: a new paradigm for large-sc…
During the cutting process, material of the workpiece is continuously being removed by the cutting tool, which results in a reduction of mass as well as a displacement in the center of the workpiece mass. When using workpiece sided force…
Deformable object manipulation presents a unique set of challenges in robotic manipulation by exhibiting high degrees of freedom and severe self-occlusion. State representation for materials that exhibit plastic behavior, like modeling clay…
Printed electronics is quickly emerging with tremendous value in a wide variety of latest electrical engineering areas. However, restricted to the rather limited conductive inks and printing strategies, the currently existing electronics…
3D-printed digital materials whose mechanical behavior travels between those from thermoplastic to rubbery polymers have become increasingly important. However, their mechanical functionalities have not been fully exploited due to intrinsic…
The rapidly developing robotics industry demands structures with novel mechanical functions. Traditional approaches, developing new materials and designing new structures, face two challenges. Highly complex force-displacement functions can…
Visual impairments create barriers to learning physical activities, since conventional training methods rely on visual demonstrations or often inadequate verbal descriptions. This research explores 3D-printed human body models to enhance…
We present 3DTouch, a novel 3D wearable input device worn on the fingertip for 3D manipulation tasks. 3DTouch is designed to fill the missing gap of a 3D input device that is self-contained, mobile, and universally working across various 3D…
Robot positioning accuracy is a key factory when performing high-precision manufacturing tasks. To effectively improve the accuracy of a manipulator, often up to a value close to its repeatability, calibration plays a crucial role. In the…
Efficient motion intent communication is necessary for safe and collaborative work environments with collocated humans and robots. Humans efficiently communicate their motion intent to other humans through gestures, gaze, and social cues.…
Robotic manipulation of deformable objects gains great attention due to its wide applications including medical surgery, home assistance, and automatic food preparation. The ability to deform soft objects remains a great challenge for…
Very soft grain assemblies have unique shape-changing capabilities that allow them to be compressed far beyond the rigid jammed state by filling void spaces more effectively. However, accurately following the formation of these systems by…
This paper presents a novel robotic arm system, named PAPRAS (Plug-And-Play Robotic Arm System). PAPRAS consists of a portable robotic arm(s), docking mount(s), and software architecture including a control system. By analyzing the target…
This paper presents a novel soft robotic system for a deformable mannequin that can be employed to physically realize the 3D geometry of different human bodies. The soft membrane on a mannequin is deformed by inflating several curved…
3D printers based on the Fused Decomposition Modeling create objects layer-by-layer dropping fused material. As a consequence, strong overhangs cannot be printed because the new-come material does not find a suitable support over the last…
Over the past decades, we have witnessed a rapid emergence of soft and reconfigurable robots thanks to their capability to interact safely with humans and adapt to complex environments. However, their softness makes accurate control very…
We create a mechanical digger able to move within 2D densely-packed granular media, in a manner intrinsically different from the existing biomimic diggers. The characteristics of our design include that the average grain size is about one…
Due to the wide diffusion of 3D printing technologies, geometric algorithms for Additive Manufacturing are being invented at an impressive speed. Each single step, in particular along the Process Planning pipeline, can now count on dozens…
This paper presents a design methodology of a hydraulically-driven soft robotic gripper for grasping a large and heavy object -- approximately 10 - 20 kg with 20 - 30 cm diameter. Most existing soft grippers are pneumatically actuated with…
For the past decade, 3D printing (3DP) has become popular due to availability of low-cost 3D printers such as RepRap and Fab@Home; and better software, which offers a broad range of manufacturing platform that enables users to create…
Aggregating base elements into rigid objects such as furniture or sculptures is a great way for designers to convey a specific look and feel. Unfortunately, there is no existing solution to help model structurally sound aggregates. The…