A5019945050- Soft Robotics and Applications
- Modular Robots and Swarm Intelligence
- Advanced Materials and Mechanics
- Micro and Nano Robotics
- Advanced Sensor and Energy Harvesting Materials
- Microfluidic and Bio-sensing Technologies
- Microfluidic and Capillary Electrophoresis Applications
- Advanced MEMS and NEMS Technologies
- Advanced Surface Polishing Techniques
- Intraocular Surgery and Lenses
- Prosthetics and Rehabilitation Robotics
- Hydraulic and Pneumatic Systems
- Structural Analysis and Optimization
- 3D Printing in Biomedical Research
- Advanced machining processes and optimization
- Manufacturing Process and Optimization
- Underwater Vehicles and Communication Systems
- Pluripotent Stem Cells Research
- Retinal and Macular Surgery
- Digital Transformation in Industry
- Advanced Statistical Process Monitoring
- Electrowetting and Microfluidic Technologies
- Adhesion, Friction, and Surface Interactions
- Bone Tissue Engineering Materials
- Advanced Machining and Optimization Techniques
KU Leuven
2016-2025
Flanders Make (Belgium)
2016-2025
Harvard University
2020-2024
Harvard University Press
2021
Ritsumeikan University
2013-2014
Isochoric snapping of elastomeric spherical caps enables fast actuation in fluidic soft robots.
Abstract Inflatable structures have become essential components in the design of soft robots and deployable systems as they enable dramatic shape change from a single pressure inlet. This simplicity, however, often brings strict limitation: unimodal deformation upon inflation. Here, multistability is embraced to modular, inflatable that can switch between distinct modes response input signal. system comprises bistable origami modules which used trigger snap‐through transition state...
Tissues achieve their complex spatial organization through an interplay between gene regulatory networks, cell-cell communication, and physical interactions mediated by mechanical forces. Current strategies to generate in-vitro tissues have largely failed implement such active, dynamically coordinated manipulations, relying instead on extracellular matrices which respond to, rather than impose Here, we develop devices that enable the actuation of organoids. We show active forces increase...
Locomotion of soft robots typically relies on control multiple inflatable actuators by electronic computers and hard valves. Soft pneumatic oscillators can reduce the demand controllers generating complex movements required for locomotion from a single, constant input pressure, but either have been constrained to low rates flow air or fabrication processes. Here, we describe oscillator fabricated flexible, inextensible, sheets that provides high airflow practical combining three...
Soft robots are an interesting alternative for classic rigid in applications requiring interaction with organisms or delicate objects. Elastic inflatable actuators one of the preferred actuation mechanisms soft since they intrinsically safe and soft. However, these pneumatic each require a dedicated pressure supply valve to drive control their sequence. Because relatively large size supplies valves compared electrical leads electronic controllers, tethering multiple degrees freedom is bulky...
Cilia are hair-like organelles, present in arrays that collectively beat to generate flow. Given their small size and consequent low Reynolds numbers, asymmetric motions necessary create a net Here, we developed an array of six soft robotic cilia, which individually addressable, both mimic nature's symmetry-breaking mechanisms control asymmetries study influence on fluid propulsion. Our experimental tests corroborated with dynamics simulations, where find good agreement between show how the...
Abstract Multi-welled energy landscapes arising in shells with nonzero Gaussian curvature typically fade away as their thickness becomes larger because of the increased bending required for inversion. Motivated by this limitation, we propose a strategy to realize doubly curved that are bistable any thickness. We then study nonlinear dynamic response one-dimensional (1D) arrays our universally when coupled compressible fluid cavities. find system supports propagation bidirectional transition...
Programming inflatable systems to deform desired 3D shapes opens up multifarious applications in robotics, morphing architecture, and interventional medicine. This work elicits complex deformations by attaching discrete strain limiters cylindrical hyperelastic inflatables. Using this system, a method is presented solve the inverse problem of programming myriad centerline curves upon inflation. The entails two steps: first, reduced-order model generates conceptual solution giving coarse...
Flexible fluidic actuators recently attracted the interest of microsystem community, especially for soft robotic applications including minimally invasive surgery.These actuators, based on a well-known actuator design where void is surrounded by an asymmetric elastic structure, can achieve large bending strokes when pressurized.Miniaturized versions these typically fail due to poor bonding constituting components, and further, there little theoretical understanding devices.This paper...
Abstract As soft robotic systems grow in complexity and functionality, the size stiffness of needed control hardware severely limits their application potential. Alternatively, functionality can be embodied within actuator characteristics, drastically reducing amount peripherals. Functions such as memory, computation, energy storage then result from intrinsic mechanical behavior precisely designed structures. Here, actuators are introduced with tunable characteristics to generate complex...
Animals and robots employ central pattern generators, networks that invoke rhythmic patterns from constant inputs, to orchestrate limb movements during locomotion. Artificial generators (CPGs) can be either implemented in software or constructed a physical domain. The former lacks embodiment, inhibiting direct interactions with the world. latter is restricted by complex translation of abstract functions domain, e.g., negative feedback, if‐then behavior, etc. Here, self‐oscillators,...
A novel approach to induce fluid flow using a cilia array with individually controlled pneumatic cilia, imposing metachronal waves.
Abstract In nature, liquid propulsion in low‐Reynolds‐number regimes is often achieved by arrays of beating cilia with various forms motion asymmetry. particular, spatial asymmetry, where the follow a different trajectory their effective and recovery strokes, an efficient way generating flow low Reynolds regimes. However, this type asymmetry difficult to mimic control artificially. paper, artificial soft cilium that comprises two pneumatic actuators can be controlled individually developed....
Abstract Human ingenuity has found a multitude of ways to manipulate fluids across different applications. However, the fundamentals fluid propulsion change when moving from macro‐ microscale. Viscous forces dominate inertial rendering successful methods at macroscale ineffective for microscale propulsion. Nature however solution; microscopic active organelles protruding cells that feature intricate beating patterns: cilia. Cilia succeed in propelling small dimensions; hence they have served...
Retinal Vein Occlusion is a common retinal vascular disorder which can cause severe loss of vision. vein cannulation promising treatment, but given the small diameter veins and surgeon's limited positioning precision, it considered too risky to perform this procedure manually. The authors previously reported on development both robotic comanipulation telemanipulation system have potential augment precision. This work investigates benefit these systems for surgery. For purpose, targeting test...
Exploration robots are challenged by a continuous adaptation to the terrain induced ever changing environments. These adaptations can be subtle (e.g. when moving from smooth rough terrain), however drastic changes in environment require address different locomotion modes crawling vs swimming). While each mode driven dedicated set of actuators, nature shows that multimodal is also possible activating same actuators sequences swimming snakes). In this paper, we present EELWORM, 40 cm long...
Over the past few decades, polydimethylsiloxane (PDMS) has become material of choice for a variety microsystem applications, including microfluidics, imprint lithography, and soft microrobotics. For most these PDMS is processed by replication molding; however, new applications would greatly benefit from ability to pattern films using lithography etching. Metal hardmasks, in conjunction with reactive ion etching (RIE), have been reported as method patterning PDMS; this approach suffers high...
This paper represents the extended version of conference "Developing highly-integrated subcutaneous biochips for remote monitoring human metabolism" presented at IEEE Sensors Conference 2012, and presents data on assembly, packaging short term in vitro vivo biocompatibility evaluation a fully implantable biosensor array. The device was realized integrating three building blocks: 1) multielectrode platform; 2) an inductive coil; 3) integrated circuit. entire system measures 2.2 mm × 15 mm....