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Aging populations and the rising prevalence of neurological and musculoskeletal disorders increase the demand for wearable mobility assistive devices that are effective, comfortable, and anatomically compatible. Many existing systems use…
This work presents a novel fault-tolerant control scheme based on active inference. Specifically, a new formulation of active inference which, unlike previous solutions, provides unbiased state estimation and simplifies the definition of…
Recently, several approaches have attempted to combine motion generation and control in one loop to equip robots with reactive behaviors, that cannot be achieved with traditional time-indexed tracking controllers. These approaches however…
Machines designed for operation in Space, as well as other extreme environments, need to be both resilient and adaptable when mission parameters change. Soft robots offer advantages in adaptability, but most lack resilience to the pressure…
This paper presents the first coupling application of the dual reciprocity BEM (DRBEM) and dynamic programming filter to inverse elastodynamic problem. The DRBEM is the only BEM method, which does not require domain discretization for…
In this paper, we propose an event-based sampling policy to implement a constraint-tightening, robust MPC method. The proposed policy enjoys a computationally tractable design and is applicable to perturbed, linear time-invariant systems…
Novel robotic grippers have captured increasing interests recently because of their abilities to adapt to varieties of circumstances and their powerful functionalities. Differing from traditional gripper with mechanical components-made…
This work establishes a solution to the problem of assessing the capacity of multi-object assemblies to withstand external forces without becoming unstable. Our physically-grounded approach handles arbitrary structures made from rigid…
In this paper we present an influence of discontinuous coupling on the dynamics of multistable systems. Our model consists of two periodically forced oscillators that can interact via soft impacts. The controlling parameters are the…
A rectangular plate of dielectric elastomer exhibiting gradients of material properties through its thickness will deform inhomogeneously when a potential difference is applied to compliant electrodes on its major surfaces, because each…
This paper presents a novel distributed robust optimization scheme for steering distributions of multi-agent systems under stochastic and deterministic uncertainty. Robust optimization is a subfield of optimization which aims to discover an…
This paper presents a new stiffness modulation mechanism that enables infinite-range stiffness modulation in a fast manner. The proposed stiffness modulation mechanism can help improve many robot environment interaction applications such as…
Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to reason about complex frictional interaction with uncertainty…
This study addresses the challenge of low dexterity in teleoperation tasks caused by limited sensory feedback and visual occlusion. We propose a novel approach that integrates haptic feedback into teleoperation using the adaptive triggers…
This study introduces an innovative design for a Variable Stiffness 3 Degrees of Freedom actuated wrist capable of actively and continuously adjusting its overall stiffness by modulating the active length of non-linear elastic elements.…
Springs are commonly used in wearable robotic devices to provide assistive joint torque without the need for motors and batteries. However, different tasks (such as walking or running) and different users (such as athletes with strong legs…
A continuum electromechanical model is proposed to describe the membrane curvature induced by electrostatic interactions in a solvated protein-membrane system. The model couples the macroscopic strain energy of membrane and the…
Soft robots have been leveraged in considerable areas like surgery, rehabilitation, and bionics due to their softness, flexibility, and safety. However, it is challenging to produce two same soft robots even with the same mold and…
Several modeling, estimation, and control strategies have been recently presented for simple reluctance devices like solenoid valves and electromagnetic switches. In this paper, we present a new algorithm to online estimate the flux linkage…
High-speed machinery is often designed to pass several $"$critical$"$ speeds, where vibration levels can be very high. To reduce vibrations, rotors usually undergo a mass balancing process, where the machine is rotated at its full speed…