Related papers: Deformation Driven Suction Cups: A Mechanics-Based…
This review provides an introduction to the essential physics of soft adhesion, including the thermodynamics of adhesion and wetting, the mechanics of contact with deformable materials, and the material properties that most affect…
Integrating silicone with non-extensible materials is a common strategy used in the fabrication of fluidically-driven soft actuators, yet conventional approaches often rely on irreversible adhesives or embedding processes that are…
Suction cups are an important gripper type in industrial robot applications, and prior literature focuses on using vision-based planners to improve grasping success in these tasks. Vision-based planners can fail due to adversarial objects…
When a rigid object approaches a soft material in a viscous fluid, hydrodynamic stresses arise in the lubricated contact region and deform the soft material. The elastic deformation modifies in turn the flow, hence generating a…
Contact mechanics-based models for the friction of nominally flat rough surfaces have not been able to adequately capture certain key experimentally observed phenomenona, such as the transition from a static friction peak to a lower level…
We present a comprehensive theoretical and computational model that explores the behavior of a thin hydrated film bonded to a non-hydrated / impermeable soft substrate in the context of surface and bulk elasticity coupled with surface…
Contact involving soft materials often combines dry adhesion, sliding friction, and large deformations. At the local level, these three aspects are rarely captured simultaneously, but included in the theoretical models by Mergel et al.…
Traditional methods for achieving high localization accuracy on tactile sensors usually involve a matrix of miniaturized individual sensors distributed on the area of interest. This approach usually comes at a price of increased complexity…
Since wearable technology was first conceptualized in 1960, it has become a crucial aspect of our daily life. People's daily lives have been made better and their health and well-being have improved because of its convenience, real-time,…
We develop two new continuum contact models for coupled adhesion and friction, and discuss them in the context of existing models proposed in the literature. Our new models are able to describe sliding friction even under tensile normal…
Application of soft and compliant joints in grasping mechanisms received an increasing attention during recent years. This article suggests the design and development of a novel bio-inspired compliant finger which is composed of a 3D…
Robotic hands with soft surfaces can perform stable grasping, but the high friction of the soft surfaces makes it difficult to release objects, or to perform operations that require sliding. To solve this issue, we previously developed a…
Microcapsules are a key class of microscale materials with applications in areas ranging from personal care to biomedicine, and with increasing potential to act as extracellular matrix (ECM) models of hollow organs or tissues. Such capsules…
Tactile sensation is essential for humans to recognize objects. Various devices have been developed in the past for tactile presentation by electrostatic force, which are easy to configure devices, but there is currently no such device that…
Haptic feedback is essential for human-machine interaction, as it bridges physical and digital experiences and enables immersive engagement with virtual environments. However, current haptic devices are frequently tethered, lack portability…
Human skin provides a rich tactile sensing stream, localizing intentional and unintentional contact events over a large and contoured region. Replicating these tactile sensing capabilities for dexterous robotic manipulation systems remains…
Tactile sensing is vital for human dexterous manipulation, however, it has not been widely used in robotics. Compact, low-cost sensing platforms can facilitate a change, but unlike their popular optical counterparts, they are difficult to…
While tactile sensor technology has made great strides over the past decades, applications in robotic manipulation are limited by aspects such as blind spots, difficult integration into hands, and low spatial resolution. We present a method…
Medical electrophysiological sensors that can study the body and diagnose diseases depend on consistently low impedance electrode-skin interfaces. Clinical-standard wet electrodes use hydrogels and skin abrasion to improve the interface and…
Scientific computing for large deformation of elastic-plastic solids is critical for numerous real-world applications. Classical numerical solvers rely primarily on local discrete linear approximation and are constrained by an inherent…