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Soft robotic grippers facilitate contact-rich manipulation, including robust grasping of varied objects. Yet the beneficial compliance of a soft gripper also results in significant deformation that can make precision manipulation…
We realize squeeze film pressure sensors using suspended, high mechanical quality silicon nitride membranes forming few-micron gap sandwiches. The effects of air pressure on the mechanical vibrations of the membranes are investigated in the…
We numerically and analytically analyze the startup continuous shear rheology of heavily entangled rigid rod polymer fluids based on our self-consistent, force-level theory of anharmonic tube confinement. The approach is simplified by…
This paper presents a miniature tension sensor using a photo-reflector, designed for compact tendon-driven grippers and robotic hands. The proposed sensor has a small form factor of 13~mm x 7~mm x 6.5~mm and is capable of measuring tensile…
Thanks to recent advancements in the development of inexpensive, high-resolution tactile sensors, touch sensing has become popular in contact-rich robotic manipulation tasks. With the surge of data-driven methods and their requirement for…
The viscous fingering instability, which forms when a less-viscous fluid invades a more-viscous one within a confined geometry, is an iconic system for studying pattern formation. For both miscible and immiscible fluid pairs the growth…
A new method is presented to manufacture piezoresistive tactile sensors using fused deposition modelling (FDM)printing technology with two different filaments made of thermoplastic polyurethane (TPU) and polylactic acid-graphene (PLA-G)…
In his work on stress functions Maxwell noted that given a planar truss the internal force distribution may be described by a piecewise linear, $C^0$ continuous version of the Airy stress function. Later Williams and McRobie proposed that…
In this study, palpating and rolling arteries with different physical properties and tactile distinction of them from each other, using finite element method, are presented. Five models have been created: healthy artery containing blood,…
Background: A smartphone is a promising tool for daily cardiovascular measurement and mental stress monitoring. A smartphone camera-based PhotoPlethysmoGraphy (PPG) and a low-cost thermal camera can be used to create cheap, convenient and…
Low concentration hydrogen gas detection is of paramount importance both in space applications as well as medical applications. It is also critically important for safe handling of hydrogen below the explosive limit. Here, we report a novel…
A new projection method for a generic two-fluid model is presented in this work. Specifically, we extend the projection method, originally designed for single-phase variable density incompressible and compressible flows, to viscous…
Recently, Nagib et al (2024} utilized indicator functions of profiles of the streamwise normal stress to reveal the ranges of validity, in wall distance and Reynolds number, for each of two proposed models in DNS of channel and pipe flows.…
Recent years have witnessed the development of so-called relaxation tribometers, the free oscillation of which is altered by the presence of frictional stresses within the contact. So far, analysis of such oscillations has been restricted…
Self-propulsion at low Reynolds number is notoriously restricted, a concept that is commonly known as the "scallop theorem". Here we present a truly self-propelled swimmer (force- and torque- free) that, while unable to swim in a Newtonian…
In this study, the concept of rheo-optics is applied that explores the flow birefringence caused by stress components along the optical axis of the camera since it is often overlooked in the traditional theories of photoelastic flow…
We demonstrate that a key elastic parameter of a suspended crystalline membrane---the Poisson ratio (PR) $\nu$---is a non-trivial function of the applied stress $\sigma$ and of the system size $L$, i.e., $\nu=\nu_L(\sigma)$. We consider a…
This paper presents a novel six-axis force/torque (F/T) sensor based on inductive sensing technology. Unlike conventional strain gauge-based sensors that require direct contact and external amplification, the proposed sensor utilizes…
Among smart materials, piezoelectric materials occupy a very prominent position for sensing and actuation functions. Combined with simple or more advanced shunts, they are also proposed in various vibration mitigation schemes. However, the…
As a new class of two-dimensional transition-metal carbide and carbonitride, MXene have been widely used in the energy storage, sensor, catalysis, electromagnetic interference shielding and other field. It is a challenge to simultaneously…