Related papers: Overtwisting and Coiling Highly Enhances Strain Ge…
This paper presents a novel actuator system combining a twisted string actuator (TSA) with a winch mechanism. Relative to traditional hydraulic and pneumatic systems in robotics, TSAs are compact and lightweight but face limitations in…
Twisted String Actuators (TSAs) are widely used in robotics but suffer from a limited range of Transmission Ratio (TR) variation, restricting their efficiency under varying loads.To overcome this, we propose a novel lightweight,…
Superconducting cosmic strings can exhibit longitudinal, pinching instabilities in some regions of the parameter space. We make predictions about the onset of this instability using the thin string approximation (TSA) and develop an…
In this paper, we propose a compact twisted string actuation system that achieves a high contraction percentage (81%) on two phases: multi string twist and overtwist. This type of system can be used in many robotic applications, such as…
Realizing high-performance soft robotic grippers is challenging because of the inherent limitations of the soft actuators and artificial muscles that drive them, including low force output, small actuation range, and poor compactness.…
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…
Elastic actuation taps into elastic elements' energy storage for dynamic motions beyond rigid actuation. While Series Elastic Actuators (SEA) and Variable Stiffness Actuators (VSA) are highly sophisticated, they do not fully provide control…
Modulating the stiffness of soft actuators is crucial for improving the efficiency of interaction with the environment. However, current stiffness modulation mechanisms are hard to achieve high lateral stiffness and a wide range of bending…
The present work deals with the microstructure and texture evolutions of a TWIP high entropy alloy at various temperatures. Toward this end, the tensile tests were conducted at temperatures ranging from 298 to 873 K under the strain rate of…
This study evaluates the performance of a twisted pair transmission line coil as a transceive element for 7T MRI in terms of physical flexibility, robustness to shape deformations, and interelement decoupling. Each coil element was created…
Fretting wear is a surface degradation process caused by oscillatory motion and contact slipping. During gross slip, high local stresses and plastic deformation in the surface and subsurface can lead to the creation of a nanosized grained…
Over the years, the number of exoskeleton devices utilized for upper-limb rehabilitation has increased dramatically, each with its own set of pros and cons. Most exoskeletons are not portable, limiting their utility to daily use for house…
Compliance in actuation has been exploited to generate highly dynamic maneuvers such as throwing that take advantage of the potential energy stored in joint springs. However, the energy storage and release could not be well-timed yet. On…
The use of the Series Elastic Actuator (SEA) system as an actuator system equipped with a compliant element has contributed not only to advances in human interacting robots but also to a wide range of improvements in the robotics area.…
The stiffness modulation mechanism for soft robotics has gained considerable attention to improve deformability, controllability, and stability. However, for the existing stiffness soft actuator, high lateral stiffness and a wide range of…
Shape Memory Alloys (SMAs) are a unique class of intermetallic alloys that can cyclically sustain large deformations and recover a designed geometry through a solid-to-solid phase transformation. SMAs provide favorable actuation energy…
The emerging field of passive macro-scale tile-based self-assembly (TBSA) shows promise in enabling effective manufacturing processes by harnessing TBSA's intrinsic parallelism. However, current TBSA methodologies still do not fulfill their…
We present multi-component knitted resistive sensors for tracking tensile force. The knits were fabricated using a Twill structure, which is a simple pattern featuring anisotropic elastic behavior, providing high stability along…
Handed Shearing Auxetics (HSA) are a promising structure for making electrically driven robots with distributed compliance that convert a motors rotation and torque into extension and force. We overcame past limitations on the range of…
We investigate the cyclic mechanical behavior in uniaxial tension of three different commercial thermoplastic polyurethane elastomers (TPU) often considered as a sustainable replacement for common filled elastomers. All TPU have similar…