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In this paper, we study integrated estimation and control of soft robots. A significant challenge in deploying closed loop controllers is reliable proprioception via integrated sensing in soft robots. Despite the considerable advances…
We design a two-dimensional ultra-thin elastic metasurface consisting of steel cores coated with elliptical rubbers embedded in epoxy matrix, capable of manipulating bulk elastic wave modes for reflected waves. The energy exchanges between…
Acoustic metamaterials are artificial structures, often lattice of resonators, with unusual properties. They can be engineered to stop wave propagation in specific frequency bands. Once manufactured, their dispersive qualities remain…
Tissue-like materials are required in many robotic systems to improve human-machine interactions. However, the mechanical properties of living tissues are difficult to replicate. Synthetic materials are not usually capable of simultaneously…
This work introduces the Monolithic Unit (MU), an actuator-lattice-sensor building block for soft robotics. The MU integrates pneumatic actuation, a compliant lattice envelope, and candidate sites for optical waveguide sensing into a single…
Adaptive structures are of interest for their ability to dynamically modify mechanical properties post fabrication, enabling structural performance that is responsive to environmental uncertainty and changing loading conditions. Dynamic…
This paper introduces a computational composite material comprising layers for actuation, computation and energy storage. Key to its design is inexpensive materials assembled from traditionally available fabrication machines to support the…
This paper presents a soft propelled arm, 3D-printed in TPU 70A, designed to be used in flexible UAVs, an advantageous concept since it reduces risk in the event of a collision thanks to a high energy absorption. The proposed design also…
Metamaterials and metasurfaces have given possibilities for manipulating electromagnetic (EM) waves that in the past would have seemed impossible. The majority of metasurface designs are suitable for a particular frequency and angle of…
Electrostatic adhesion is widely used in mobile robotics, haptics, and robotic end effectors for its adaptability to diverse substrates and low energy consumption. Force sensing is important for feedback control, interaction, and monitoring…
Lattice-skin structures composed of a thin-shell skin and a lattice infill are widespread in nature and large-scale engineering due to their efficiency and exceptional mechanical properties. Recent advances in additive manufacturing, or 3D…
In this paper, we present a 2D numerical model developed to simulate the dynamics of soft, deformable particles. To accommodate significant particle deformations, the particle surface is represented as a narrow shell composed of mass points…
Soft robotic systems offer benefits over traditional rigid systems through reduced contact trauma with soft tissues and by enabling access through tortuous paths in minimally invasive surgery. However, the inherent deformability of soft…
Soft materials such as rubbers, hydrogels, and biological tissues undergo damage in the form of stiffness degradation without apparent changes in their stress-free geometry. Accurate simulation of this behavior is critical in applications…
Recent years have seen growing application potential for Lattice-skin Plate Structures in advanced manufacturing fields such as aerospace and automotive engineering. For multiscale performance evaluation of such structures, conventional…
We present a tactile sensing method enabled by the mechanical compliance of soft robots; an externally attachable photoreflective module reads surface deformation of silicone skin to estimate contact force without embedding tactile…
Skin effect that all eigenmodes within a frequency range become edge states is dictated by the topological properties of complex eigenvalues unique in non-Hermitian systems. The prevailing attempts to realize such a fascinating effect are…
Dielectric elastomers are widely studied for their use in robotic and medical devices due to their shape changing properties. Recently, they have also been incorporated into acoustic devices, motivating the development of an electroacoustic…
Advances in 3D printing technology now enable the precise positioning of microscopic material voxels to form complex structures. Combined with emerging multi-material capabilities and printable responsive materials, this opens new…
Pneumatic soft robots are typically fabricated by molding, a manual fabrication process that requires skilled labor. Additive manufacturing has the potential to break this limitation and speed up the fabrication process but struggles with…