Related papers: Deformation Driven Suction Cups: A Mechanics-Based…
The surface tension of compliant materials such as gels provides resistance to deformation in addition to and sometimes surpassing that due to elasticity. This article studies how surface tension changes the contact mechanics of a small…
Reliable real-time 3D shape sensing is essential for robust control and interpretation of deformable systems during motion. Existing vision-based approaches require line-of-sight and complex instrumentation, limiting operation in occluded…
Conventional soft pneumatic actuators, typically based on hollow elastomeric chambers, often suffer from small structural support and require costly geometry-specific redesigns for multimodal functionality. Porous materials such as foam,…
Camera-based tactile sensors are emerging as a promising inexpensive solution for tactile-enhanced manipulation tasks. A recently introduced FingerVision sensor was shown capable of generating reliable signals for force estimation, object…
Soft tissue manipulation is an integral aspect of most surgical procedures; however, the vast majority of surgical graspers used today are made of hard materials, such as metals or hard plastics. Furthermore, these graspers predominately…
The present contribution focuses on the effect of adherend surface roughness on the strength of adhesive joints, which are particularly cost-effective and extensively applied in a wide range of industrial applications. However, the…
Everyday experience confirms the tendency of adhesive films to detach from spheroidal regions of rigid substrates -- what is a petty frustration when placing a sticky bandage onto an elbow or knee is a more serious matter in the coating and…
Mechanically characterizing the human-machine interface is essential to understanding user behavior and optimizing wearable robot performance. This interface has been challenging to sensorize due to manufacturing complexity and non-linear…
Vacuum-based end effectors are widely used in industry and are often preferred over parallel-jaw and multifinger grippers due to their ability to lift objects with a single point of contact. Suction grasp planners often target planar…
This paper presents the design, characterization and validation of a wearable haptic device able to convey skin stretch, force feedback, and a combination of both, to the user's arm. In this work, we carried out physical and perceptual…
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…
We study the mechanical contact between a deformable body with a wavy surface and a rigid flat taking into account pressurized fluid trapped in the interface. A finite element model is formulated for a general problem of trapped fluid for…
Soft adhesive pads are needed for many robotics applications, and one approach is based on electroadhesion. Here we present a general analytic model and numerical results for electroadhesion for soft solids with arbitrary time-dependent…
We have developed a theory of air leakage at interfaces between two elastic solids with application to suction cups in contact with randomly rough surfaces. We present an equation for the airflow in narrow constrictions which interpolate…
We develop a real-time state estimation system to recover the pose and contact formation of an object relative to its environment. In this paper, we focus on the application of inserting an object picked by a suction cup into a tight space,…
Manipulating deformable objects in robotic cells is often costly and not widely accessible. However, the use of localized pneumatic gripping systems can enhance accessibility. Current methods that use pneumatic grippers to handle deformable…
Grasping objects with diverse mechanical properties, such as heavy, slippery, or fragile items, remains a significant challenge in robotics. Conventional rigid grippers typically rely on increasing the normal forces to secure an object,…
Granular grippers can manipulate a wide variety of objects, but need to be pressed on the object to conform to it. If the object is placed on unstable ground, e.g., on sand or water, this step might cause the object to sink or move away…
Robots are increasingly envisioned as human companions, assisting with everyday tasks that often involve manipulating deformable objects. Although recent advances in robotic hardware and embodied AI have expanded their capabilities, current…
Vacuum Suction Grabbing Technology. The primary objective of this study was to design the grabbing technique used to determine the vacuum suction gripper and its design parameters for the pocket welting operation in apparel manufacturing.…