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Soft robotics has emerged as a promising technology that holds great potential for various application areas. This is due to soft materials unique properties, including flexibility, safety, and shock absorption, among others. Despite many…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
The rapid advances in 3D scanning and acquisition techniques have given rise to the explosive increase of volumetric digital models in recent years. This dissertation systematically trailblazes a novel volumetric modeling framework to…
Parametric 3D models have enabled a wide variety of tasks in computer graphics and vision, such as modeling human bodies, faces, and hands. However, the construction of these parametric models is often tedious, as it requires heavy manual…
In this paper, we present a new computer-controlled weaving technology that enables the fabrication of woven structures in the shape of given 3D surfaces by using threads in non-traditional materials with high bending-stiffness, allowing…
Additive manufacturing paves new ways to an efficient exploration of the third space dimension, providing advantages over conventional planar architectures. In particular, volumetric electromagnetic antennas can demonstrate superior…
This work introduces a novel technique for fabricating functional robots using 3D printers. Simultaneously depositing photopolymers and a non-curing liquid allows complex, pre-filled fluidic channels to be fabricated. This new printing…
Tactile sensing plays a fundamental role in enabling robots to navigate dynamic and unstructured environments, particularly in applications such as delicate object manipulation, surface exploration, and human-robot interaction. In this…
Three-dimensional (3D) printing of bioelectronics offers a versatile platform for fabricating personalized and structurally integrated electronic systems within biological scaffolds. Biodegradable electronics, which naturally dissolve after…
Consumer-level multi-material 3D printing with conductive thermoplastics enables fabrication of interactive elements for bespoke tangible devices. However, large feature sizes, high resistance materials, and limitations of printable control…
This study presents the spreading of a single filament of a yield stress (viscoplastic) fluid extruded onto a pre-wetted solid surface. The filaments spread laterally under surface tension forces until they reach a final equilibrium shape…
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…
Nowadays is very common to find headlines in the media where it is stated that 3D printing is a technology called to change our lives in the near future. For many authors, we are living in times of a third industrial revolution. Howerver,…
3D printing technology offers the possibility of producing synthetic samples with accurately defined microstructures. As indicated by effective medium theory (EMT), the shapes, orientations, and sizes of voids significantly affect the…
Fused deposition modeling (FDM) using mobile robots instead of the gantry-based 3D printer enables additive manufacturing at a larger scale with higher speed. This introduces challenges including accurate localization, control of the…
Cells control fluid flows with a spatial and temporal precision that far exceeds the capabilities of current microfluidic technologies. Cells achieve this superior spatio-temporal control by harnessing dynamic networks of cytoskeleton and…
Low-density, highly porous graphene/graphene oxide (GO) based-foams have shown high performance in energy absorption applications, even under high compressive deformations. In general, foams are very effective as energy dissipative…
Materials used in real clothing exhibit remarkable complexity and spatial variation due to common processes such as stitching, hemming, dyeing, printing, padding, and bonding. Simulating these materials, for instance using finite element…
We present a field-based method of toolpath generation for 3D printing continuous fibre reinforced thermoplastic composites. Our method employs the strong anisotropic material property of continuous fibres by generating toolpaths along the…
Spatial control methods using additional modules on pretrained diffusion models have gained attention for enabling conditional generation in natural images. These methods guide the generation process with new conditions while leveraging the…