相关论文: Single-Input Control of Multiple Fluid-Driven Elas…
This work presents a new fiberless soft pneumatic actuator that can work multifunctional and bidirectional, and its embedded sensors give it a self-proprioception ability. This actuator works based on the idea of employing helical pressure…
In a companion study \cite{patterson2020computing2D}, we present a numerical method for simulating 2D viscous flow through an open compliant closed channel, drive by pressure gradient. We consider the highly viscous regime, where fluid…
We develop a one-dimensional model for the unsteady fluid--structure interaction (FSI) between a soft-walled microchannel and viscous fluid flow within it. A beam equation, which accounts for both transverse bending rigidity and nonlinear…
Series Elastic Actuators provide many benefits in force control of robots in unconstrained environments. These benefits include high force fidelity, extremely low impedance, low friction, and good force control bandwidth. Series Elastic…
The rheology of pressure-driven flows of two-dimensional dense monodisperse emulsions in neutral wetting microchannels is investigated by means of mesoscopic lattice simulations, capable of handling large collections of droplets, in the…
This work presents a stochastic tube-based model predictive control framework that guarantees hard input constraint satisfaction for linear systems subject to unbounded additive disturbances. The approach relies on a structured design of…
The manipulation and control of microparticles through non-intrusive methods is pivotal in biomedical applications such as cell sorting and cell focusing. Although several experimental and numerical studies have been dedicated to single…
The task of controlling an underactuated robotic finger with a single tendon and a single actuator is difficult. Methods for controlling the class of underactuated systems are available in the literature. However, this particular system…
Due to their nature, using shear thickening fluids (STFs) in engineering applications has sparked an interest in developing energy-dissipating systems, such as damping devices or shock absorbers. The Rheinforce technology allows the design…
We present an experimental method to fabricate centimetric thin elastic capsules with highly uniform thickness and negligible bending stiffness using silicone elastomers. In our experiments, the capsules thickness is tunable at fabrication,…
This paper presents a method to stabilise oscillations occurring in a mixed convective flow in a nearly hemispherical cavity, using actuation based on the receptivity map of the unstable mode. This configuration models the continuous…
Elastic contact in hydrodynamic environments is a complex multiphysics phenomenon and can be found in applications ranging from engineering to biological systems. Understanding the intricacies of this coupled problem requires the…
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…
Growing soft materials which follow a 3D path in space are critical to applications such as search and rescue and minimally invasive surgery. Here, we present a concept for a single-input growing multi-stable soft material, based on a…
We describe a particular control method for a system controlled by several actuators with the same control constants. We show under certain assumptions that the control constants for the whole system can be obtained immediately from the…
Bubble-driven inertial pumps are a novel method of moving liquids through microchannels. We combine high-speed imaging, computational fluid dynamics (CFD) simulations and an effective one-dimensional model to study the fundamentals of…
Soft multi-axis force/torque sensors provide safe and precise force interaction. Capturing the complete degree-of-freedom of force is imperative for accurate force measurement with six-axis force/torque sensors. However, cross-axis coupling…
This paper deals with flow-induced shape transitions of elastic capsules. The state of the art concerning both theory and experiments is briefly reviewed starting with dynamically induced small deformation of initially spherical capsules…
Microbubbles excited by acoustic fields inside water oscillate, and generate acoustic radiation forces and drag-induced acoustic streaming. These forces can be harnessed in various biomedical applications such as targeted drug delivery and…
This paper proposes a new methodology for design of a stabilizing control law for multi-input linear systems with time-varying, singular gains on the control. The results presented here assume the control gain to satisfy persistence of…