Related papers: Modeling and parametric optimization of 3D tendon-…
Impressive animal locomotion capabilities are mediated by the co-evolution of the skeletal morphology and muscular properties. Legged robot performance would also likely benefit from the co-optimization of actuators and leg morphology.…
The purpose of this research is to design, fabricate and test a tendon driven a continuum soft robot with three modular segments, each of which has a tunable stiffness enabled by layer jamming technology. Compared with previous studies, the…
Use of 2G HTS coated conductors in several power applications has become popular in recent years. Their large current density under high magnetic fields makes them suitable candidates for high power capacity applications such as stacks,…
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…
Using an experimental optimization approach, this study investigated whether two human movements, pointing tasks and squat-jumps, could be modelled with a reduced set of kinematic parameters. Three sigmoid models were proposed to model the…
Passive elastic elements can contribute to stability, energetic efficiency, and impact absorption in both biological and robotic systems. They also add dynamical complexity which makes them more challenging to model and control. The impact…
Effective exoskeleton assistance requires co-adaptation: as the device alters joint dynamics, the user reorganizes neuromuscular coordination, creating a non-stationary learning problem. Most learning-based approaches do not explicitly…
In this paper, we study a digital twin (DT)-empowered integrated sensing, communication, and computation network. Specifically, the users perform radar sensing and computation offloading on the same spectrum, while unmanned aerial vehicles…
Large-Scale Actuator Networks (LSAN) are a rapidly growing class of electromechanical systems. A prime application of LSANs in the industrial sector is distributed manipulation. LSAN's are typically implemented using: vibrating plates, air…
OBJECTIVE: 2D Ultrasound (US) imaging has been recently investigated as a more accessible alternative to 3D Magnetic Resonance Imaging (MRI) for the estimation of soft issue motion under external mechanical loading. In the context of…
Obtaining the precise 3D motion of a table tennis ball from standard monocular videos is a challenging problem, as existing methods trained on synthetic data struggle to generalize to the noisy, imperfect ball and table detections of the…
Typical leg exoskeletons employ open-loop kinematic chains with motors placed directly on movable joints; while this design offers flexibility, it leads to increased costs and heightened control complexity due to the high number of degrees…
High-quality and controllable digital twins of surgical instruments are critical for Real2Sim in robot-assisted surgery, as they enable realistic simulation, synthetic data generation, and perception learning under novel poses. We present…
The design of compliant mechanisms is crucial in several technologies and relies on the availability of solutions for nonlinear structural problems. One of these solutions is given and experimentally validated in the present article for a…
The flexible body has advantages over the rigid body in terms of environmental contact thanks to its underactuation. On the other hand, when applying conventional control methods to realize dynamic tasks with the flexible body, there are…
We present an implicit, fully-coupled hydro-mechanical solver for the three dimensional simulation of fluid-driven rupture propagation along existing discontinuities. The solver handles simultaneously frictional slip (shear failure) and…
This paper introduces GEX, an innovative low-cost dexterous manipulation system that combines the GX11 tri-finger anthropomorphic hand (11 DoF) with the EX12 tri-finger exoskeleton glove (12 DoF), forming a closed-loop teleoperation…
Several recently released humanoid robots, inspired by the mechanical design of Cassie, employ actuator configurations in which the motors are displaced from the joints to reduce leg inertia. While studies accounting for the full kinematic…
Tendon-driven musculoskeletal humanoids have many benefits in terms of the flexible spine, multiple degrees of freedom, and variable stiffness. At the same time, because of its body complexity, there are problems in controllability. First,…
Designing generalizable control policies for lower-limb exoskeletons remains fundamentally constrained by exhaustive data collection or iterative optimization procedures, which limit accessibility to clinical populations. To address this…