Related papers: Design and Characterization of a Micro-Vibration A…
Statistics of the 1d dynamics of a single particle in a box of length L is studied under different conditions of periodic excitation: vibrated container, or 1 wall moving periodically or two walls vibrating in opposite phases. Theoretical…
The ability of robots to navigate through doors is crucial for their effective operation in indoor environments. Consequently, extensive research has been conducted to develop robots capable of opening specific doors. However, the diverse…
Robotic manipulators capable of regulating both compliance and stiffness offer enhanced operational safety and versatility. Here, we introduce Worm Gear-based Adaptive Variable Elasticity (WAVE), a variable stiffness actuator (VSA) that…
In this study, we propose a theory of rough adhesive contact of viscoelastic materials in steady-state sliding. By exploiting a boundary formulation based on Green function approach, the unknown contact domain is calculated by enforcing the…
An event-driven molecular dynamics simulation of inelastic hard spheres contained in a cylinder and subject to strong vibration reproduces accurately experimental results[1] for a system of vibrofluidized glass beads. In particular, we are…
Granular jamming has recently become popular in soft robotics with widespread applications including industrial gripping, surgical robotics and haptics. Previous work has investigated the use of various techniques that exploit the nature of…
Variable impedance actuators (VIAs) as tool devices for teleoperation could extend the range of tasks that humans can perform through a teleoperated robot by mimicking the change of upper limb stiffness that humans perform for different…
Much of the Earth and many surfaces of extraterrestrial bodies are composed of in-cohesive particle matter. Locomoting on granular terrain is challenging for common robotic devices, either wheeled or legged. In this work, we discover a…
Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time or require complex models and/or additional instrumentation…
The contact between a rigid Hertzian indenter and an adhesive broad-band viscoelastic substrate is considered. The material behaviour is described by a modified power law model, which is characterized by only four parameters, the glassy and…
In this paper we present a theoretical and experimental study aimed at characterizing the hysteretic properties of viscoelastic materials. In the last decades viscoelastic materials have become a reference for new technological…
Tunable dry adhesion is a crucial mechanism in compliant manipulation. The gripping force, mainly originated from the van der Waals force between the adhesive composite and the object to be gripped, can be controlled by reversibly varying…
Simultaneous vibration control and energy harvesting of vehicle suspensions has attracted great research interests over the past decades. However, existing frameworks tradeoff suspension performance for energy recovery and are only…
We report two-dimensional simulations of strongly vibrated granular materials without gravity. The coefficient of restitution depends on the impact velocity between particles by taking into account both the viscoelastic and plastic…
Collaborative robots must simultaneously be safe enough to operate in close proximity to human operators and powerful enough to assist users in industrial tasks such as lifting heavy equipment. The requirement for safety necessitates that…
The paper presents a new study method of mechanic vibrations with the help of the data acquisition systems. The study of vibrations with the help of data acquisition systems allows the solving of some engineering problems connected to the…
The legged robots with variable stiffness actuators (VSAs) can achieve energy-efficient and versatile locomotion. However, equipping legged robots with VSAs in real-world application is usually restricted by (i) the redundant mechanical…
Functional magnetic composites capable of large deformation, load bearing, and multifunctional motion are essential for next-generation adaptive soft robots. Here, we present muscle-inspired magnetic actuators (MMA), additively manufactured…
A system consisting of a doubly clamped beam with an attached body (slider) free to move along the beam has been studied recently by multiple research groups. Under harmonic base excitation, the system has the capacity to passively adapt…
Stroke-induced motor impairment often results in substantial loss of upper-limb function, creating a strong demand for rehabilitation robots that enable safe and transparent physical human-robot interaction (pHRI). Variable stiffness…