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Mechanically characterizing the human-machine interface is essential to understanding user behavior and optimizing wearable robot performance. This interface has been challenging to sensorize due to manufacturing complexity and non-linear…
Soft robotic manipulators are attractive for a range of applications such as medical interventions or industrial inspections in confined environments. A myriad of soft robotic manipulators have been proposed in the literature, but their…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic model of the robots, numerical singularities, and the…
Haptic feedback is essential for human-machine interaction, as it bridges physical and digital experiences and enables immersive engagement with virtual environments. However, current haptic devices are frequently tethered, lack portability…
This paper presents the design, control, and applications of a multi-segment soft robotic arm. In order to design a soft arm with large load capacity, several design principles are proposed by analyzing two kinds of buckling issues, under…
Performing a grasp is a pivotal capability for a robotic gripper. We propose a new evaluation approach of grasping stability via constructing a model of grasping stiffness based on the theory of contact mechanics. First, the mathematical…
Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…
Flexible robots have advantages over rigid robots in their ability to conform physically to their environment and to form a wide variety of shapes. Sensing the force applied by or to flexible robots is useful for both navigation and…
Robots built from soft materials can alter their shape and size in a particular profile. This shape-changing ability could be extremely helpful for rescue robots and those operating in unknown terrains and environments. In changing shape,…
The ever increasing need for performance results in increasingly rigorous demands on throughput and positioning accuracy of high-precision motion systems, which often suffer from position dependent effects that originate from relative…
This paper presents the design, characterization and validation of a wearable haptic device able to convey skin stretch, force feedback, and a combination of both, to the user's arm. In this work, we carried out physical and perceptual…
Variable Stiffness Actuators prove invaluable for robotics applications in unstructured environments, fostering safe interactions and enhancing task adaptability. Nevertheless, their mechanical design inevitably results in larger and…
Soft robots achieve functionality through tight coupling among geometry, material composition, and actuation. As a result, effective design optimization requires these three aspects to be considered jointly rather than in isolation. This…
We propose a novel fast and accurate simulation framework for contact-intensive tight-tolerance robotic assembly tasks. The key components of our framework are as follows: 1) data-driven contact point clustering with a certain…
Robotic arms built from stiffness-adjustable, continuously bending segments serially connected with revolute joints have the ability to change their mechanical architecture and workspace, thus allowing high flexibility and adaptation to…
Growing demands in the semiconductor industry necessitate increasingly stringent requirements on throughput and positioning accuracy of lithographic equipment. Meeting these demands involves employing highly aggressive motion profiles,…
Soft robotics hold promise in the development of safe yet powered assistive wearable devices for infants. Key to this is the development of closed-loop controllers that can help regulate pneumatic pressure in the device's actuators in an…
This paper presents a novel contact-implicit trajectory optimization method using an analytically solvable contact model to enable planning of interactions with hard, soft, and slippery environments. Specifically, we propose a novel contact…
Enabling robots to walk and run on yielding terrain is increasingly vital to endeavors ranging from disaster response to extraterrestrial exploration. While dynamic legged locomotion on rigid ground is challenging enough, yielding terrain…