A5088329417- Soft Robotics and Applications
- Modular Robots and Swarm Intelligence
- Micro and Nano Robotics
- Robot Manipulation and Learning
- Adhesion, Friction, and Surface Interactions
- Advanced Sensor and Energy Harvesting Materials
- Advanced Materials and Mechanics
- Force Microscopy Techniques and Applications
- Prosthetics and Rehabilitation Robotics
- Robotic Locomotion and Control
- Biomimetic flight and propulsion mechanisms
- Manufacturing Process and Optimization
- Teleoperation and Haptic Systems
- Advanced machining processes and optimization
- Underwater Vehicles and Communication Systems
- Tactile and Sensory Interactions
- Robotic Path Planning Algorithms
- Cephalopods and Marine Biology
- Muscle activation and electromyography studies
- Metal Forming Simulation Techniques
- Lattice Boltzmann Simulation Studies
- Shape Memory Alloy Transformations
- Aerospace Engineering and Energy Systems
- Surface Modification and Superhydrophobicity
- Plant and Biological Electrophysiology Studies
University of California, Santa Barbara
2016-2025
Lawrence Livermore National Laboratory
2025
California NanoSystems Institute
2023
Cornell University
2019
Stanford University
2010-2018
Center for Health Design
2015
Harvard University Press
2011
Harvard University
2008-2010
ETH Zurich
2009
Across kingdoms and length scales, certain cells organisms navigate their environments not through locomotion but growth. This pattern of movement is found in fungal hyphae, developing neurons, trailing plants, characterized by extension from the tip body, change hundreds percent, active control growth direction. results abilities to move tightly constrained form useful three-dimensional structures body. We report a class soft pneumatic robot that capable basic this behavior, growing...
Programmable matter is a material whose properties can be programmed to achieve specific shapes or stiffnesses upon command. This concept requires constituent elements interact and rearrange intelligently in order meet the goal. paper considers achieving programmable sheets that form themselves different autonomously by folding. Past approaches creating transforming machines have been limited small feature sizes, large number of components, associated complexity communication among units. We...
A load-sharing robotic device can grasp, manipulate, and release objects in microgravity using space-qualified dry adhesives.
The Wolverine is a mobile, wearable haptic device designed for simulating the grasping of rigid objects in virtual reality interface. In contrast to prior work on force feedback gloves, we focus creating low cost and lightweight that renders directly between thumb three fingers simulate held pad opposition (precision) type grasps. Leveraging low-power brake-based locking sliders, system can withstand over 100N each finger thumb, only consumes 0.24 mWh (0.87 joules) braking interaction....
Soft continuum robots exhibit access and manipulation capabilities in constrained cluttered environments not achievable by traditional robots. However, navigation of these can be difficult due to the kinematics devices. Here we describe design, modeling, control a soft robot with tip extension degree freedom. This design enables extremely simple through decoupled steering forward movement. To navigate destination, is steered point at destination freedom used reach it. Movement always...
Robotic navigation on land, through air, and in water is well researched; numerous robots have successfully demonstrated motion these environments. However, one frontier for robotic locomotion remains largely unexplored-below ground. Subterranean simply hard to do, part because the interaction forces of underground are higher than air or by orders magnitude we lack interactions a robust fundamental physics understanding. We present test three hypotheses, derived from biological observation...
A broad diversity of biological organisms and systems interact with soil in ways that facilitate their growth survival. These interactions are made possible by strategies enable to accomplish functions can be analogous those required geotechnical engineering systems. Examples include anchorage soft weak ground, penetration into hard stiff subsurface materials movement loose sand. Since the have been ‘vetted’ process natural selection, they governed same physical laws both engineered...
How can the field of soft robotics have impact in next decade?
Recent advances in the rapidly growing field of soft robotics highlight potential for innovations wearable to meet challenges and opportunities affecting individuals, society, economy. Some most promising application areas include haptic interfaces, assistive robotics, biomedical devices. Several attributes robotic systems make them well-suited use human-wearable applications. Such can be designed accommodate complex morphology movements human body, afford sufficient compliance ensure safe...
We describe a new series pneumatic artificial muscle (sPAM) and its application as an actuator for soft continuum robot. The robot consists of three sPAMs arranged radially around tubular backbone. Analogous to tendons, the exert tension force on robot's backbone, causing bending that is approximately constant curvature. Unlike traditional tendon driven robot, entirely contains no hard components, making it safer human interaction. Models both sPAM kinematics are presented experimentally...
For a new class of soft robotic platforms, development flexible and robust actuators is quintessential. Remarkable resilience, shape memory effect, high energy density, scalability are attributed to nickel titanium (NiTi) making it an excellent actuator candidate for meso-scale applications. This paper presents micro-muscle fiber crafted from alloy coiled springs. An enhanced spring NiTi model describes the combination martensite deformation effect due its geometry. also manufacturing...
Perching can extend the useful mission life of a micro air vehicle. Once perched, climbing allows it to reposition precisely, with low power draw and without regard for weather conditions. We present Stanford Climbing Aerial Maneuvering Platform, which is our knowledge first robot capable flying, perching passive technology on outdoor surfaces, climbing, taking off again. mechanical design new perching, takeoff strategies that allow us perform these tasks surfaces such as concrete stucco,...
Conformable robotic systems are attractive for applications in which they may actuate structures with large surface areas, provide forces through wearable garments, or enable autonomous systems. We present a new family of soft actuators that we refer to as Fluidic Fabric Muscle Sheets (FFMS). They composite fabric integrate fluidic transmissions based on arrays elastic tubes. These sheet-like can strain, squeeze, bend, and conform hard objects arbitrary shapes sizes, including the human...
We present the inverse pneumatic artificial muscle (IPAM), a new soft actuator that is powered by pneumatics in manner to traditional muscles: low pressure, rather than high, contracts muscle. The IPAM improves on 50-year-old standard actuators, McKibben muscle, but retains many of advantages have drawn roboticists this over years. produces up 40% strain, and has nonlinear control with friction hysteresis, whereas attains strains 300% nearly linear mapping between input pressure force/length...
Since the discovery of mechanism adhesion in geckos, many synthetic dry adhesives have been developed with desirable gecko-like properties such as reusability, directionality, self-cleaning ability, rough surface and high adhesive stress. However, fully exploiting these practical applications at different length scales requires efficient scaling (i.e. little loss area grows). Just natural gecko used a benchmark for materials, so can systems provide baseline efficiency. In tokay ( Gekko ),...
A large-scale, isoperimetric, untethered, soft robot changes shape by manipulating constant-length inflated tubes using movable joints.
A key challenge in robotics is to create efficient methods for grasping objects with diverse shapes, sizes, poses, and properties. Grasping hand-like end effectors often requires careful selection of hand orientation finger placement. Here, we present a fingerless soft gripper capable efficiently generating multiple modes. It based on soft, cylindrical accordion structure containing coupled, parallel fluidic channels, which are controlled via pressure supplied from single port. Inflation...
Soft robots offer advantages over rigid in adaptability, robustness to uncertainty, and human safety. However, realizing soft actuators for these is still a challenge. We present simple, highly conformable pneumatic artificial muscle made of thin, single layer woven, bias-cut fabric. The airtight fabric adhered together with flexible adhesive, negating the need bladder or sewing. Thus, it foldable when depressurized behaves like McKibben pressurized, but without friction braided sheath....
Significance Root growth in soil is complex. With limited sensory input, roots must navigate an environment containing heterogeneities such as rocks and compaction. The ability of to penetrate crucial for water nutrient uptake well mechanical anchorage. Here, we describe a molecular framework controlling helical root known circumnutation. Functional characterization circumnutation consistent with the hypothesis that it exploratory behavior substrate penetration. This work lays foundation...
Soft robots promise improved safety and capability over rigid when deployed near humans or in complex, delicate, dynamic environments. However, infinite degrees of freedom the potential for highly nonlinear dynamics severely complicate their modeling control. Analytical machine learning methodologies have been applied to model soft but with constraints: quasi-static motions, quasi-linear deflections, both. Here, we advance control into inertial, regime. We controlled motions a soft,...
In this paper, a bioinspired mechanism is presented that allows large patches of directional dry adhesives to attain levels adhesion previously seen only for small samples in precisely aligned tests. The uses rigid tile supported by compliant material and loaded an inextensible tendon, inspired the tendon system fluid-filled sinus gecko toes. This permits adhesive make full contact with surface have uniform loading despite significant errors alignment. single-tile demonstrated on...
Nearly all robotic grippers have one trait in common: they grasp objects with normal forces, either directly, or indirectly through friction. This method of grasping is effective for small enough a given gripper to partially encompass. However, larger objects, significant grip forces and high coefficient friction are required. We present new convex using almost exclusively shear forces. achieve that utilizes thin film gecko-inspired fibrillar adhesives conform the curvature object. verified...
Micro-aerial vehicles (MAVs) face limited flight times, which adversely impacts their efficacy for scenarios such as first response and disaster recovery, where it might be useful to deploy persistent radio relays quadrotors monitoring or sampling. Thus, is important enable micro-aerial land perch on different surfaces save energy by cutting power motors. We are motivated use a downward-facing gripper perching, opposed side-mounted gripper, since could also used carry payloads. In this...
Antennas are essential in wireless communications and powering systems. Applications, such as search rescue space exploration would greatly benefit from antenna reconfigurability, well deployment a compact easy-to-transport form. We present the design analysis of reconfigurable deployable that uses growing soft robot to form three-dimensional structure. Our approach is based on pneumatic tip-extending instrumented with conducting element. The increases its length enable changes shape...