Related papers: Computational Design of Active Kinesthetic Garment…
Kinesthetic garments provide physical feedback on body posture and motion through tailored distributions of reinforced material. Their ability to selectively stiffen a garment's response to specific motions makes them appealing for…
An increasing number of electronics are directly embedded on the clothing to monitor human status (e.g., skeletal motion) or provide haptic feedback. A specific challenge to prototype and fabricate such a clothing is to design the wiring…
Active structures have the ability to change their shape, properties, and functionality as a response to changing operational conditions, which makes them more versatile than their static counterparts. However, most active structures…
We introduce CODS (Computational Optimization in Design Space), a theoretical model that frames computational design as a constrained optimization problem over a structured, multi-dimensional design space. Unlike existing methods that rely…
Since wearable linkage mechanisms could control the moment transmission from actuator(s) to wearers, they can help ensure that even low-cost wearable systems provide advanced functionality tailored to users' needs. For example, if a hip…
Grasping, in both biological and engineered mechanisms, can be highly sensitive to the gripper and object morphology, as well as perception, and motion planning. Here we circumvent the need for feedback or precise planning by using an array…
Knitting turns yarn, a 1D material, into a 2D fabric that is flexible, durable [1], and can be patterned to adopt a wide range of 3D geometries [2]. Like other mechanical metamaterials [3], the elasticity of knitted fabrics is an emergent…
Natural organisms utilize distributed actuation through their musculoskeletal systems to adapt their gait for traversing diverse terrains or to morph their bodies for varied tasks. A longstanding challenge in robotics is to emulate this…
Design of robotic systems that safely and efficiently operate in uncertain operational conditions, such as rehabilitation and physical assistance robots, remains an important challenge in the field. Current methods for the design of energy…
Compliant mechanisms achieve motion through elastic deformation. In this work, we address the synthesis of a compliant cross-hinge mechanism capable of large angular strokes while approximating the behavior of an ideal revolute joint. To…
Design requirements for moving parts in mechanical assemblies are typically specified in terms of interactions with other parts. Some are purely kinematic (e.g., pairwise collision avoidance) while others depend on physics and material…
E-textiles has received tremendous attention in recent years due to the capability of integrating sensors into a garment to provide high precision sensing of the human body. Besides sensing, a number of solutions for e-textile garments have…
This work proposes a novel generative design tool for passive grippers -- robot end effectors that have no additional actuation and instead leverage the existing degrees of freedom in a robotic arm to perform grasping tasks. Passive…
Interaction is critical for data analysis and sensemaking. However, designing interactive physicalizations is challenging as it requires cross-disciplinary knowledge in visualization, fabrication, and electronics. Interactive…
Harnessing the rich nonlinear dynamics of highly-deformable materials has the potential to unlock the next generation of functional smart materials and devices. However, unlocking such potential requires effective strategies to spatially…
A vital task of the wider digital human effort is the creation of realistic garments on digital avatars, both in the form of characteristic fold patterns and wrinkles in static frames as well as richness of garment dynamics under avatars'…
We propose a method for computing a sewing pattern of a given 3D garment model. Our algorithm segments an input 3D garment shape into patches and computes their 2D parameterization, resulting in pattern pieces that can be cut out of fabric…
Despite the increasing availability of personal fabrication hardware and services, the true potential of digital fabrication remains unrealized due to lack of computational techniques that can support 3D shape design by non-experts. This…
With recent advances in both responsive materials and fabrication techniques it is now possible to construct integrated functional structures, composed of both structural and active materials. We investigate the robust design of such…
The concept of cloaking -- hiding objects from external detection -- has seen wide success in linear systems. Yet, translating these advancements to nonlinear mechanical systems remains an open challenge. Here, we present a new approach to…