Related papers: An Experimental Characterization of Mechanical Lay…
Magnetic soft continuum robots are capable of bending with remote control in confined space environments, and they have been applied in various bioengineering contexts. As one type of ferromagnetic soft continuums, the Magnetically Induced…
The paper focuses on the enhanced stiffness modeling of robotic manipulators by taking into account influence of the external force/torque acting upon the end point. It implements the virtual joint technique that describes the compliance of…
Materials with J-shaped stress-strain behavior under uniaxial stretching, where strength increases as deformation progresses, have been developed through various materials designs. On the other hand, polymer materials that progressively…
Soft, amorphous solids such as tissues, foams, and emulsions are composed of deformable particles. However, the effect of single-particle deformability on the collective behavior of soft solids is still poorly understood. We perform…
Growth in confined spaces can drive cellular populations through a jamming transition from a fluid-like state to a solid-like state. Experiments have found that jammed budding yeast populations can build up extreme compressive pressures…
We report experimental and computational observations of dynamic contact networks for colloidal suspensions undergoing shear thickening. The dense suspensions are comprised of sterically stabilized poly(methyl methacrylate) hard sphere…
Modular Active Cell Robots (MACROs) are a design paradigm for modular robotic hardware that uses only two components, namely actuators and passive compliant joints. Under the MACRO approach, a large number of actuators and joints are…
Rigidity is an emergent property of materials - it is not a feature of individual components that comprise the structure, but instead arises from interactions between many constituent parts. Recently, it has been recognized that…
Many fibrous materials are modeled as elastic networks featuring a substantial separation between the stiffness scales that characterize different microscopic deformation modes of the network's constituents. This scale separation has been…
Filamentous bio-materials such as fibrin or collagen networks exhibit an enormous stiffening of their elastic moduli upon large deformations. This pronounced nonlinear behavior stems from a significant separation between the stiffnesses…
The jamming transition characterizes athermal systems of particles interacting via finite range repulsive potentials, and occurs on increasing the density when particles cannot avoid making contacts with those of their first coordination…
We study jamming in model freely rotating polymers as a function of chain length $N$ and bond angle $\theta_0$. The volume fraction at jamming, $\phi_J(\theta_0)$, is minimal for rigid-rod-like chains ($\theta_0 = 0$), and increases…
This paper introduces a novel variable stiffness mechanism termed Helically Wound Structured Electrostatic Layer Jamming (HWS-ELJ) and systematically investigates its potential applications in variable stiffness robotic finger design. The…
Passive elastic elements can contribute to stability, energetic efficiency, and impact absorption in both biological and robotic systems. They also add dynamical complexity which makes them more challenging to model and control. The impact…
Regrasping on fixtures is a promising approach to reduce pose uncertainty in robotic assembly, but conventional rigid fixtures lack adaptability and require dedicated designs for each part. To overcome this limitation, we propose a soft jig…
The jamming of bi-disperse soft core disks is considered, using a variety of different protocols to produce the jammed state. In agreement with other works, we find that cooling and compression can lead to a broad range of jamming packing…
A distinctive feature of quadrupeds that is integral to their locomotion is the tail. Tails serve many purposes in biological systems including propulsion, counterbalance, and stabilization while walking, running, climbing, or jumping.…
When dense granular systems are exposed to external forcing, they evolve on the time scale that is typically related to the externally imposed one (shear or compression rate, for example). This evolution could be characterized by observing…
Physical layer security is essential in optical networks. In this paper, we study a jamming-aware control plane, in which a high power jamming attack exists in the network. The studied control plane considers that the jammed connections can…
By using smart radio devices, a jammer can dynamically change its jamming policy based on opposing security mechanisms; it can even induce the mobile device to enter a specific communication mode and then launch the jamming policy…