A5008818135- Advanced Sensor and Energy Harvesting Materials
- Soft Robotics and Applications
- Dielectric materials and actuators
- Surface Modification and Superhydrophobicity
- Robot Manipulation and Learning
- Advanced Materials and Mechanics
- Opportunistic and Delay-Tolerant Networks
- Tactile and Sensory Interactions
- Energy Harvesting in Wireless Networks
- Underwater Vehicles and Communication Systems
- Cardiovascular Health and Disease Prevention
- Cardiac Valve Diseases and Treatments
- Analytical Chemistry and Sensors
- Electrical and Bioimpedance Tomography
- Biomimetic flight and propulsion mechanisms
- Characterization and Applications of Magnetic Nanoparticles
- Micro and Nano Robotics
- Aerospace Engineering and Energy Systems
- Tribology and Lubrication Engineering
- Adhesion, Friction, and Surface Interactions
- Robotic Locomotion and Control
- Electrospun Nanofibers in Biomedical Applications
École Polytechnique Fédérale de Lausanne
2017-2025
ETH Zurich
2024
University of Electro-Communications
2024
North Carolina State University
2020-2021
Abstract The advent of soft robotics has led to the development devices that harness compliance and natural deformability media with nonlinear elasticity. This a need batch‐manufacturable sensors can sustain large strains maintain kinematic compatibility systems they track. In this article, an approach address challenge is presented highly stretchable strain operate at up 500%. consist carbon black‐filled elastomer composite batch manufactured using film‐casting techniques CO 2 laser...
Abstract Soft, capacitive tactile (pressure) sensors are important for applications including human–machine interfaces, soft robots, and electronic skins. Such capacitors consist of two electrodes separated by a dielectric. Pressing the capacitor brings closer together thereby increases capacitance. Thus, sensitivity to given force is maximized using dielectric materials that have high constant, yet such properties often in conflict with each other. Here, liquid metal elastomer foam (LMEF)...
Abstract In minimally invasive surgery, such as cardiac ablation, magnetically steered catheters made of variable‐stiffness materials can enable higher dexterity and force application to human tissue. However, the long transition time between soft rigid states leads a significant increase in procedure duration. Here, fast‐response, multisegmented catheter is described for surgery thread (FRVST) that encapsulates helical cooling channel. The rapid stiffness change FRVST, composed nontoxic...
We present a fully edible pneumatic actuator based on gelatin-glycerol material. The is monolithic, fabricated via molding process, and measures 90 mm in length, 20 width, 17 thickness. Thanks to the material mechanical characteristics similar those of silicone elastomers, exhibits bending angle 170.3 ° blocked force 0.34 N at applied pressure 25 kPa. These values are comparable elastomer actuators. As validation example, two actuators integrated form gripper capable handling various...
Abstract Variable stiffness (VS) is an important feature that significantly enhances the dexterity of magnetic catheters used in minimally invasive surgeries. Existing with VS consist sensors, heaters, and tubular structures filled low melting point alloys, which have a large change ratio but are toxic to humans. In this paper, catheter described for surgery; based on novel variable thread (VST), made conductive shape memory polymer (CSMP). The CSMP nontoxic simultaneously serves as heater,...
In recent years, there has been a growing interest in the development of universal soft grippers that can handle objects varying form factors (including flat objects), surface conditions moistened or oily and mechanical properties (deformable fragile). Yet, is no single gripper gently grip with such wide range properties. Herein, combines granular jamming (GJ) electroadhesion (EA) to grasp release large set diverse presented. The operate GJ mode only, EA combination simultaneously activates...
Variable stiffness (VS) has revolutionized miniature surgical instruments, including cardiovascular catheters for minimally invasive surgeries (MISs), enabling advanced capabilities in modulation and multi-curvature bending. However, existing VS with phase-changing materials are slow softening stiffening rates (≈90 s), which can lead to substantial increase surgery duration. To address the change, we propose a catheter based on fiber jamming (FJ) that achieves instant changes (≤300 ms),...
The inherent compliance of soft robots often makes it difficult for them to exert forces on surrounding surfaces or withstand mechanical loading. Controlled stiffness is a solution empower with the ability apply large their environments and sustain external loads without deformations. Herein, compact, actuator composed shared electrode used both electrostatic actuation variable described. device operates as dielectric elastomer actuator, while provided by made gallium. fabricated namely...
Perching in unmanned aerial vehicles (UAVs) offers the possibility of extending range robots beyond limits their batteries. It has been a topic intense study for multirotor UAVs. winged UAVs is harder because kinetic energy balance to be struck. Reducing too much results vehicle stalling and falling. Too at touchdown could damage vehicle. Most studies used dangerous pitch‐up maneuvers manage this balance. This work presents system that eliminates maneuver by mechanically capturing storing...
Abstract Electroadhesion is an attractive mechanism to electrically modulate adhesion surfaces. arises from the interaction of electric fields with conductive or dielectric materials. devices consist in‐plane, interdigitated electrodes that generate out‐of‐plane fields, which increase target To date, these have predominantly been composed carbonaceous Here, liquid metal utilized create in silicone substrates. Liquid can be patterned a variety unique ways, including microfluidic injection,...
Biodegradable materials decompose and return to nature. This functionality can be applied derive robotic systems that are environmentally friendly. study presents a fully biodegradable soft actuator, which is one of the key elements in “green” robotics. The working actuator based on an electrohydraulic principle, similar hydraulically amplified self‐healing electrostatic actuators. developed this consists dielectric film made polylactic acid (PLA) polybutylene adipate ‐co ‐terephthalate...
Biodegradable materials decompose and return to nature. This functionality can be applied derive robotic systems that are environmentally friendly. study presents a fully biodegradable soft actuator, which is one of the key elements in “green” robotics. The working actuator based on an electrohydraulic principle, similar hydraulically amplified self-healing electrostatic actuators. developed this consists dielectric film made polylactic acid (PLA) polybutylene adipate-co-terephthalate...
In minimally invasive surgery, such as cardiac ablation, magnetically steered catheters made of variable-stiffness materials can enable higher dexterity and force application to human tissue.However, the long transition time between soft rigid states leads a significant increase in procedure duration.Here, fast-response, multisegmented catheter is described for surgery thread (FRVST) that encapsulates helical cooling channel.The rapid stiffness change FRVST, composed nontoxic shape memory...
In recent years, there has been a growing interest in the development of universal soft grippers that can handle objects varying form factors (including flat objects), surface condition moistened or oily and mechanical properties (deformable fragile). Yet, is no single gripper gently grip with such wide range properties. this paper, we present combines granular jamming (GJ) electroadhesion (EA) to grasp release large set diverse objects. The operate GJ mode only, EA combination...
We present a fully edible pneumatic actuator based on gelatin-glycerol composite. The is monolithic, fabricated via molding process, and measures 90 mm in length, 20 width, 17 thickness. Thanks to the composite mechanical characteristics similar those of silicone elastomers, exhibits bending angle 170.3 {\deg} blocked force 0.34 N at applied pressure 25 kPa. These values are comparable elastomer actuators. As validation example, two actuators integrated form gripper capable handling various...
Pressure‐sensitive adhesives (PSAs) are polymeric films that can be adhered to and detached from surfaces without leaving residue. Researchers looking enhance the bond strength between PSAs different substrates. It achieved by tuning PSA's peeling, shear, tack properties for every specific case. ‘Very High Bond’ (VHB) is a widely used PSA because of its high compliance suitable stretchable soft‐matter devices. In this study, simple fast surface treatment approach modify adhesion VHB CO 2...