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In this paper, we propose a modification of an acoustic-transport operator splitting Lagrange-projection method for simulating compressible flows with gravity. The original method involves two steps that respectively account for acoustic…
Soft robotic manipulators offer operational advantage due to their compliant and deformable structures. However, their inherently nonlinear dynamics presents substantial challenges. Traditional analytical methods often depend on simplifying…
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…
Microfluidics has revolutionized control over small volumes through the use of physical barriers. However, the rigidity of these barriers limits flexibility in applications. We present an optofluidic toolbox that leverages structured light…
Fluid antenna system promises to obtain enormous diversity in the small space of a mobile device by switching the position of the radiating element to the most desirable position from a large number of prescribed locations of the given…
We demonstrate that discontinuous shear thickening (DST) can occur even in moderately dense, inertial suspensions of hydrodynamically interacting, frictionless soft particles. Using the Lubrication-Friction Discrete Element Method, our…
Soft robotic systems have gained widespread attention due to their inherent flexibility, adaptability, and safety, making them well-suited for varied applications. Among bioinspired designs, earthworm locomotion has been extensively studied…
Relative motion between soft wet solids arises in a number of applications in natural and artificial settings, and invariably couples elastic deformation and fluid flow. We explore this in a minimal setting by considering a fluid-immersed…
Smart surfaces that reversibly change the interfacial friction coefficients in response to external stimuli enable a wide range of applications, such as grips, seals, brake pads, packaging films, and fabrics. Here a new concept of such a…
Developing kinesthetic haptic devices with advanced haptic rendering capabilities is challenging due to the limitations on driving mechanisms. In this study, we introduce a novel soft electrohydraulic actuator and develop a kinesthetic…
A new spin based logic device is proposed. It is comprised of a common free ferromagnetic layer separated by a tunnel junction from three inputs and one output with separate fixed layers. It has the functionality of a majority gate and is…
Lubrication flows appear in many applications in engineering, biophysics, and in nature. Separation of surfaces and minimisation of friction and wear is achieved when the lubrication fluid builds up a lift force. In this paper we analyse…
We propose a finite element method for simulating one-dimensional solid models moving and experiencing large deformations while immersed in generalized Newtonian fluids. The method is oriented towards applications involving microscopic…
Variable Stiffness Actuators prove invaluable for robotics applications in unstructured environments, fostering safe interactions and enhancing task adaptability. Nevertheless, their mechanical design inevitably results in larger and…
This paper presents a Load-Based Variable Transmission (LBVT) mechanism designed to enhance robotic actuation by dynamically adjusting the transmission ratio in response to external torque demands. Unlike existing variable transmission…
While most neuromorphic systems are based on nanoscale electronic devices, nature relies on ions for energy-efficient information processing. Therefore, finding memristive nanofluidic devices is a milestone toward realizing electrolytic…
We study the snapping instability of a spherical elastic shell induced by a viscous flow, the umbrella flipping problem when life is at low Reynolds numbers. We combine precision desktop-scale experiments, fluid-structure simulations, shell…
This paper presents the simple synergistic combination of a novel contracting soft pneumatic actuator with a soft clutch (linear brake). The device is designated the Inverting-tube Vacuum ACtuator with Clutch (InVACC). The actuator alone…
The concept of creating all-mechanical soft microrobotic systems has great potential to address outstanding challenges in biomedical applications, and introduce more sustainable and multifunctional products. To this end, magnetic fields and…
Navigating efficiently across vortical flow fields presents a significant challenge in various robotic applications. The dynamic and unsteady nature of vortical flows often disturbs the control of underwater robots, complicating their…