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One of the motivations for the development of wirelessly guided untethered magnetic devices (UMDs), such as microrobots and nanorobots, is the continuous demand to manipulate, sort, and assemble micro-objects with high level of accuracy and…
In recent years, there has been a significant effort dedicated to developing efficient, robust, and general human-to-robot handover systems. However, the area of flexible handover in the context of complex and continuous objects' motion…
Complex ferromagnetic oxides such as La$_{0.67}$Sr$_{0.33}$MnO$_3$ (LSMO) offer pathways for creating energy efficient spintronic devices with new functionalities. LSMO exhibits high-temperature ferromagnetism, half metallicity, sharp…
We developed a system that continuously maintains a cryocooler for long periods on a rotating table. A cryostat that holds the cryocooler is set on the table. A compressor is located on the ground and supplies high-purity (> 99.999%) and…
Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally,…
Realizing optical manipulation of microscopic objects is crucial in the research fields of life science, condensed matter physics and physical chemistry. In non-liquid environments, this task is commonly regarded as difficult due to strong…
There is a growing need for soft robotic platforms that perform gentle, precise handling of a wide variety of objects. Existing surface-based manipulation systems, however, lack the compliance and tactile feedback needed for delicate…
Handling fragile objects remains a major challenge for robotic manipulation. Tactile sensing and soft robotics can improve delicate object handling, but typically involve high integration complexity or slow response times. We address these…
We propose a mechanically simple and cheap design for a series elastic actuator with controllable stiffness. Such characteristics are necessary for animals for running, jumping, throwing, and manipulation, yet in robots, variable stiffness…
Pneunets are the primary form of soft robotic grippers. A key limitation to their wider adoption is their inability to grasp larger payloads due to objects slipping out of grasps. We have overcome this limitation by introducing a…
Automation in the life science research laboratory is a paradigm that has gained increasing relevance in recent years. Current robotic solutions often have a limited scope, which reduces their acceptance and prevents the realization of…
Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes…
The use of soft and compliant manipulators in marine environments represents a promising paradigm shift for subsea inspection, with devices better suited to tasks owing to their ability to safely conform to items during contact. However,…
Developing soft robots that can control their own life-cycle and degrade on-demand while maintaining hyper-elasticity is a significant research challenge. On-demand degradable soft robots, which conserve their original functionality during…
Soft grippers, with their inherent compliance and adaptability, show advantages for delicate and versatile manipulation tasks in robotics. This paper presents a novel approach to underactuated control of multiple soft actuators, explicitly…
Control of soft robotic manipulators remains a challenge for designs with advanced capabilities and novel actuation. Two significant limitations are multi-axis, three-dimensional motion of soft bodies alongside actuator dynamics and…
Astrobee's existing one-degree-of-freedom (DOF) underactuated compliant claw gripper enables perching on the International Space Station (ISS), but provides limited capability for continuous dexterous manipulation. More complex microgravity…
This paper is a summary of the recently accomplished research work on flexible gripping systems. The goal is to develop a gripper which can be used for a great amount of geometrically variant workpieces. The economic aspect is of particular…
Robotic manipulation of deformable and fragile objects presents significant challenges, as excessive stress can lead to irreversible damage to the object. While existing solutions rely on accurate object models or specialized sensors and…
External collisions to robot actuators typically pose risks to grasping circular objects. This work presents a vision-based sensing module capable of detecting collisions to maintain stable grasping with a soft gripper system. The system…