A5023681173- Modular Robots and Swarm Intelligence
- Advanced Materials and Mechanics
- Cellular and Composite Structures
- Soft Robotics and Applications
- Piezoelectric Actuators and Control
- Structural Analysis and Optimization
- Innovations in Concrete and Construction Materials
- Granular flow and fluidized beds
- Additive Manufacturing and 3D Printing Technologies
- Topology Optimization in Engineering
- Transportation Safety and Impact Analysis
- Advanced Sensor and Energy Harvesting Materials
- Manufacturing Process and Optimization
- Prosthetics and Rehabilitation Robotics
- Robotic Mechanisms and Dynamics
- Robot Manipulation and Learning
- Pickering emulsions and particle stabilization
- Muscle activation and electromyography studies
- Architecture and Computational Design
- Micro and Nano Robotics
- Robotic Locomotion and Control
- Bone Tissue Engineering Materials
- biodegradable polymer synthesis and properties
- Engineering Applied Research
University of Alabama
2023-2024
Yale University
2020-2024
University of Illinois Urbana-Champaign
2016-2020
It is hard to imagine with the progress in robotics that current approaches are lacking somewhere, yet they will not be applicable majority of robots near future. We on verge two new transitions transform robotics. One already under way -- miniaturization robots, point where invisible, microscopic could around us and inside us, performing monitoring or even life-saving functions. have seen systematic bio-inspired efforts create microbe-like, robots. The trend has parallels electronics...
Rapidly tunable tensile stiffness enables localized shape adaptations in next-generation robotic materials.
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...
This paper presents the design and testing of a bio-inspired soft pneumatic robot that can achieve locomotion along outside cylinder. The uses actuators called FREEs (Fiber Reinforced Elastomeric Enclosure), which have wide range deformation behavior upon pressurization. being compliant grasp move cylinders varying dimensions. Two different types are used in namely (a) extending (b) bending FREEs. These arranged such way to grip pipe while generate forward motion as well for direction...
Liquid crystal elastomers (LCEs) are a promising class of responsive materials for shape-morphable structures due to their large deformation, tunable properties, and low power consumption. It is well-known that by laminating contracting LCE with an inert but flexible material layer, bending actuation can be achieved. We report method fabricate thermoresponsive fabric bilayer actuators characterize utility as actuators. find the use different strain-limiting fabrics yields varying outputs...
This paper presents a new mechanics-based framework for the qualitative analysis and conceptual design of mechanical metamaterials, specifically materials exhibiting auxetic behavior. The methodology is inspired by recent advances in insightful synthesis compliant mechanisms visualizing kinetostatic field forces that flow through mechanism geometry. relates load members microstructure to global material properties, thereby enabling novel technique microstructures. understanding used...
Design synthesis of distributed compliant mechanisms is often a two-stage process involving (a) conceptual topology and subsequent (b) refinement stage to meet strength manufacturing specifications. The usefulness solution ascertained only after the sequential completion these two steps that are, in general, computationally intensive. This paper presents strategy rapidly estimate final operating stresses even before actual process. based on uniform stress distribution metric, functional...
Mechanical metamaterials have generated considerable interest due to their unique attributes such as light weight, high strength, enhanced energy absorption, impact, and fracture resistance. However, most of the design methodologies in literature are predominantly computational provide limited user-insight (especially for three-dimensional designs). This paper presents an alternative two-phase methodology conceptual synthesis tunable mechanical metamaterials. In first phase, we obtain a...
Inextensible material inflatables, such as those made from heat-sealable fabric or Mylar, are lightweight, robust, and easily packed into compact spaces self-deployed. They commonly by heat-pressing two sheets together to seal them along a desired curvilinear path. Upon inflation, the wrinkle about constraints imposed seals, giving rise fascinating functional shapes. In previous literature, once an inflatable has been manufactured, it can only attain single inflated shape. Changing task...
Abstract Conceptual design of spatial compliant mechanisms with distinct input and output ports may be hard because its complex interconnected topology is currently accomplished by computationally intensive automated techniques. This paper proposes a user insightful method for generating conceptual solutions. The builds on recent advances where the mechanism deformation represented as load flow in constituent members. nature enables functional decomposition into maximally decoupled building...
This paper presents a new mechanics-based framework for the qualitative analysis and conceptual design of mechanical meta-materials. The methodology is inspired by recent advances in insightful synthesis compliant mechanisms visualizing kinetostatic field forces that flow through mechanism geometry. relates load behavior microstructure geometry to global materials, such as auxetic (negative poisson’s ratio), high bulk modulus, shear modulus. understanding used synthesize demonstrate novel...
Synthesis of distributed compliant mechanisms is often a two-stage process involving (a) conceptual topology synthesis, and subsequent (b) refinement stage to meet stress manufacturing specifications. The usefulness solution ascertained only after the sequential completion these two steps, which are in general computationally intensive. This paper presents strategy rapidly estimate final operating stresses even before actual process. based on uniform distribution metric, functional...
Soft Robotics In article number 2300535, Robert Baines, Rebecca Kramer-Bottiglio, and co-workers report an inverse design method to realize inflatables that match diverse 3D target curves. The estimates the geometry location of stiffer material patches that, when applied inflatable's surface, program curvature torsion along its length. Examples new complex robotic manipulation functionality enabled by are demonstrated.
Abstract Mechanical metamaterials have gained considerable interest because of their enhanced mechanical properties, such as being lightweight, having high energy absorption, and resistance to fracture indentation. The macroscopic elastic properties materials are governed by microstructural geometry. Despite advantages, attaining microstructures with evenly distributed stresses for improved load-bearing ability remains a challenge. Furthermore, employing stress constraints in tandem...
Most granular packings possess shear moduli ($G$) that increase with the applied external pressure, and bulk ($B$) or remain constant pressure. This paper presents "tessellated" metamaterials for which both $G$ ratio $G/B$ decrease increasing The are made from flexible tessellations forming a ring of closed cells, each containing small number solid particles. For under-constrained tessellations, dominant contributions to $B$ particle-particle particle-cell interactions. With specific...
Synthesis of spatial compliant mechanisms for morphing surfaces in three dimensions is challenging as it not only involves meeting the kinematic requirement shape change, but also providing support against external loads. In dimensions, there are no existing insightful techniques synthesis, and computational approaches rendered complex. This paper builds on a new technique to synthesize mechanism topologies by visualizing kinetostatic field forces that flow through geometry. Such framework...
Abstract Transmission members such as gears and linkages are ubiquitously used in mechatronic systems to tailor the performance of actuators. However, most bio-inspired soft actuation transmission closely integrated, sometimes indistinguishable. Embedded is greatly advantageous for attaining high stroke transferring large output forces. This paper attempts at a systematic synthesis compliant with embedded contractile actuators passive achieve particular kinematic objective. The builds on...
Abstract Deformable metamaterials are materials that made up of several repeating elastic building blocks whose geometries can be tailored to obtain a specified global shape change or stiffness behavior. They deemed useful in soft robotics, morphing mechanisms, stretchable electronics, wearable devices, and devices adapt according their environment. This paper presents two-step sequential design framework for the synthesis deformable mechanical where (a) topology optimization is used map...