相关论文: Excitation of Looped Bistable Bands for High-Speed…

Rigid multi-link robotic arms face a tradeoff between their overall reach distance (the workspace), and how compactly they can be collapsed (the storage volume). Increasing the workspace of a robot arm requires longer links, which adds…

Soft robotic grippers are shown to be high effective for grasping unstructured objects with simple sensing and control strategies. However, they are still limited by their speed, sensing capabilities and actuation mechanism. Hence, their…

To facilitate sensing and physical interaction in remote and/or constrained environments, high-extension, lightweight robot manipulators are easier to transport and reach substantially further than traditional serial chain manipulators. We…

In this work, we study lattice structures that exhibit a bistable behavior, i. e., they can snap from one stable state to another, and are also completely reversible, capable of reverting back to its original state through a heat treatment.…

Multiple interlinked positive feedback loops shape the stimulus responses of various biochemical systems, such as the cell cycle or intracellular calcium release. Recent studies with simplified models have identified two advantages of…

We investigate the capability of an active body (master) to manipulate a passive object (slave) purely via contactless flow-mediated mechanisms, motivated by potential applications in microfluidic devices and medicine (drug delivery…

We analyse the stochastic dynamics of a bistable system under the influence of time-delayed feedback. Assuming an asymmetric potential, we show the existence of a regime in which the systems dynamic displays excitability by calculating the…

Bistability and snap-through instabilities are central to various mechanisms in nature and engineering, enabling rapid movement and large shape changes with minimal energy input. These phenomena are easily demonstrated by bending a piece of…

There is growing interest in molecular structures that exhibit dynamics similar to bistable mechanical systems. These structures have the potential to be used as nanodevices with two distinct states. Particularly intriguing are structures…

An increasing interest in molecular structures whose long term dynamics resemble those of bistable mechanical systems promotes the search of possible candidates that may operate as two-state switching units. Of particular interest are the…

This paper reports result of calculation and experimental realization of an electromechanical system that consists of a high-Q mechanical oscillator parametrically coupled in the manner of a capacitive transducer with a RF circuit, which is…

Industrial laparoscopic graspers use multi-link rigid mechanisms manufactured to tight tolerances, resulting in high manufacturing and assembly costs. This work presents the design and proof-of-concept validation of a monolithic, fully…

We present an analytical and experimental study of torsional magnetic mechanism where the restoring torque is due to magnetic field interactions between rotating and fixed permanent magnets. The oscillator consists of a ball…

This paper presents mathematical modeling and numerical analysis of bifurcation and synchronization phenomena in a system of coupled oscillators driven by a finite-power energy source and generating two-dimensional stick-slip…

We systematically study linear and nonlinear wave propagation in a chain composed of piecewise-linear bistable springs. Such bistable systems are ideal testbeds for supporting nonlinear wave dynamical features including transition and…

We present results from 2-D numerical simulations based on Immersed Boundary Method of a cylinder in uniform fluid flow attached to bistable springs undergoing Vortex-Induced Vibrations (VIV). The elastic spring potential for the bistable…

We explore the rotational stability of hovering flight. Our model is motivated by an experimental pyramid-shaped object and a computational lambda-shaped analog hovering passively in oscillating airflows; both systems have been shown to…

Switchable adhesives have the potential to improve the manufacturing and recycling of parts and to enable new modes of motility for soft robots. Here, we demonstrate magnetically-switchable adhesion of a two-phase composite to non-magnetic…

Fully soft bistable mechanisms have shown extensive applications ranging from soft robotics, wearable devices, and medical tools, to energy harvesting. However, the lack of design and fabrication methods that are easy and potentially…

We propose and analyze the suitability of a spiking controller to engineer the locomotion of a soft robotic crawler. Inspired by the FitzHugh-Nagumo model of neural excitability, we design a bistable controller with an electrical flipflop…