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Tactile sensing is a essential for skilled manipulation and object perception, but existing devices are unable to capture mechanical signals in the full gamut of regimes that are important for human touch sensing, and are unable to emulate…
Soft robots have drawn great interest due to their ability to take on a rich range of shapes and motions, compared to traditional rigid robots. However, the motions, and underlying statics and dynamics, pose significant challenges to…
Wearable, wirelessly connected sensors have become a common part of daily life and have the potential to play a pivotal role in shaping the future of personalized healthcare. A key challenge in this evolution is designing long-lasting and…
Hybrid assistive systems that integrate functional electrical stimulation (FES) and robotic exoskeletons offer a promising approach for neurorehabilitation. However, control of these systems remains challenging due to actuator redundancy…
This document contains two presentations which describe the working principles of a class of electrostatic multidimensional sensors and force actuators. The subject of the study is the search of the most effective methods for measuring the…
Limitations in actuation, sensing, and computation have forced small legged robots to rely on carefully tuned, mechanically mediated leg trajectories for effective locomotion. Recent advances in manufacturing, however, have enabled the…
Series elastic actuators (SEAs) are interesting for usage in harsh environments as they are more robust than rigid actuators. This paper shows how SEAs can be used in teleoperation to increase output velocity in dynamic tasks. A first…
Hand impairment following neurological disorders substantially limits independence in activities of daily living, motivating the development of effective assistive and rehabilitation strategies. Soft robotic gloves have attracted growing…
The growing use of ferroelectric-based technology, extending beyond conventional memory storage applications, necessitates the development of compact models that can be easily integrated into circuit simulation environments. These models…
Soft robotics is an emerging field that yields promising results for tasks that require safe and robust interactions with the environment or with humans, such as grasping, manipulation, and human-robot interaction. Soft robots rely on…
This research focuses on soft robotic bladders that are used to monitor and control the interaction between a user's head and the shell of a Smart Helmet. Compression of these bladders determines impact dissipation; hence the focus of this…
Self excitation is a mechanism which is ubiquitous for electromechanical power devices such as electrical generators. This is conventionally achieved by making use of the magnetic field component in electrical generators [1], where a good…
Nanoelectromechanical systems offer unique functionalities in photonics: The ability to elastically and reversibly deform dielectric beams with subwavelength dimensions enable electrical control of the propagation of light with a power…
Movement disorders impact muscle strength and mobility, and despite therapeutic efforts, many people with movement disorders have challenges functioning independently. Soft wearable robots, or exosuits, offer a promising solution for…
Many robotic surgical systems have been developed with micro-sized forceps for tissue manipulation. However, these systems often lack force sensing at the tool side and the manipulation forces are roughly estimated and controlled relying on…
Fine-grained robotic touch sensing is essential for tasks such as robot-human interaction and the handling of hazardous materials. Yet, the sense of touch of robots is limited by the cost and complexity of routing cables to embedded…
Functional Electrical Stimulation (FES) systems are successful in restoring motor function and supporting paralyzed users. Commercially available FES products are open loop, meaning that the system is unable to adapt to changing conditions…
Estimating a soft robot's pose and applied forces, also called proprioception, is crucial for safe interaction of the robot with its environment. However, most solutions for soft robot proprioception use dedicated sensors, particularly for…
Many studies have been conducted on Series Elastic Actuators (SEA) for robot joints because they are effective in terms of flexibility, safety, and energy efficiency. The ability of SEA to robustly handle unexpected disturbances has raised…
Wearable sensor based human activity recognition is a challenging problem due to difficulty in modeling spatial and temporal dependencies of sensor signals. Recognition models in closed-set assumption are forced to yield members of known…