A5075236868- Soft Robotics and Applications
- Modular Robots and Swarm Intelligence
- Micro and Nano Robotics
- Advanced Sensor and Energy Harvesting Materials
- Underwater Vehicles and Communication Systems
- Robot Manipulation and Learning
- Additive Manufacturing and 3D Printing Technologies
- Advanced Materials and Mechanics
- Microfluidic and Capillary Electrophoresis Applications
- Reinforcement Learning in Robotics
- Interactive and Immersive Displays
- Innovative Microfluidic and Catalytic Techniques Innovation
- Electrowetting and Microfluidic Technologies
- Robotic Path Planning Algorithms
- Teleoperation and Haptic Systems
- Fluid Dynamics Simulations and Interactions
- Water Quality Monitoring Technologies
- Photosynthetic Processes and Mechanisms
- Indoor and Outdoor Localization Technologies
- Time Series Analysis and Forecasting
- Control and Stability of Dynamical Systems
- Innovations in Concrete and Construction Materials
- Biomedical and Engineering Education
- Photoreceptor and optogenetics research
- Target Tracking and Data Fusion in Sensor Networks
Tufts University
2024-2025
Worcester Polytechnic Institute
2021-2024
Harvard University
2019-2024
University of Edinburgh
2016-2024
Bochum University of Applied Sciences
2024
FH Aachen
2024
Savitribai Phule Pune University
2024
University of Maryland, College Park
2024
University of Michigan
2017-2018
National Microelectronics Institute
2018
Although soft devices (grippers, actuators, and elementary robots) are rapidly becoming an integral part of the broad field robotics, autonomy for completely has only begun to be developed. Adaptation conventional systems control requires hard valves electronic controls. This paper describes pneumatic digital logic gates having a physical scale appropriate use with current (macroscopic) actuators. Each gate utilizes single bistable valve-the equivalent Schmitt trigger-which relies on...
An elastomeric device converts a constant input pressure into multiple oscillating, temporally offset output pressures.
The ocean and human activities related to the sea are under increasing pressure due climate change, widespread pollution, growth of offshore energy sector. Data, in under-sampled regions patches where industrial expansion is taking place, fundamental manage successfully a sustainable development mitigate change. Existing technology cannot cope with vast harsh environments that need monitoring sampling most. limiting factors are, among others, spatial scales physical domain, high pressure,...
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...
In soft devices, complex actuation sequences and precise force control typically require hard electronic valves microcontrollers. Existing designs for entirely pneumatic systems are capable of either digital or analog operation, but not both, limited by speed actuation, range pressure, time required fabrication, loss power through pull-down resistors. Using the nonlinear mechanics intrinsic to structures composed materials-in this case, leveraging membrane inversion tube kinking-two modular...
Soft robots excel in safety and adaptability, yet their lack of structural integrity dependency on open-curve movement paths restrict dexterity. Conventional robots, albeit faster due to sturdy locomotion mechanisms, are typically less robust physical impact. We introduce a multi-material design printing framework that extends classical mechanism soft robotics, synergizing the strengths rigid materials while mitigating respective limitations. Using tool-changer equipped with multiple...
In this study, we present a modular worm-like robot, which utilizes voice coils as new paradigm in soft robot actuation. Drive electronics are incorporated into the actuators, providing significant improvement self-sufficiency when compared with existing actuation modes such pneumatics or hydraulics. The body plan of is inspired by phylum Annelida and consists three-dimensional printed coil connected flexible silicone membranes. Each electromagnetic actuator engages its neighbor to compress...
Operations in extreme and hostile environments, such as offshore oil gas production, nuclear decommissioning, facility maintenance, deep mining, space exploration, subsea applications, require the execution of sophisticated tasks. In robotic systems have advanced significantly over past years but still suffer from task failures caused by informational physical uncertainty highly unstructured nature environment exasperated time constraints imposed high radiation levels. Herein, a survey is...
This work describes the design, fabrication and initial testing of a Soft Orthotic Physiotherapy Hand Interactive Aid (SOPHIA) for stroke rehabilitation. SOPHIA consists of: 1.) A soft robotic exoskeleton, 2.) microcontroller based control system driven by Brain-Machine Interface (BMI), 3.) sensorised glove passive In contrast to other rehabilitation devices, is first modular prototype that capable three tasks: aiding extension assistive rehabilitation, monitoring patient exercises, guiding...
To test the hypothesis that an abiotic Earth and its inert atmosphere could form chemically reactive carbon- nitrogen-containing compounds, we designed a plasma electrochemical setup to mimic lightning-induced electrochemistry under steady-state conditions of early Earth. Air-gap reactions at air-water-ground interfaces lead remarkable yields, with up 40 moles carbon dioxide being reduced into monoxide formic acid, 3 gaseous nitrogen fixed nitrate, nitrite, ammonium ions, per mole...
Robots performing automated tasks in uncontrolled environments need to adapt environmental changes. Through building large collectives of robots, this robust and adaptive behavior can emerge from simple individual rules. These also be reconfigured, allowing for adaption new tasks. Larger are more capable, but the size existing is limited by cost units. In article, we present a soft, modular robot that have explicitly designed manufacturability: Linbots. Linbots use multifunctional voice...
Soft robots are machines, and like all machines their function is to convert energy from one form into another perform tasks. One key figure of merit for efficiency, which defined as the ratio task-oriented work out total in. All soft stored (from e.g., batteries, pressurized gas, chemicals) (picking up objects, locomoting, jumping). These systems complex hybrids chemical, mechanical, pneumatic, hydraulic, electrical components. This complexity makes it difficult analyze measure efficiency...
Pneumatically operated soft robots require complex infrastructure for their operation: microcontrollers must control hard pneumatic valves via power electronics. Although digital logic gates based on have been demonstrated as a replacement electronic control, the development of memory from is cumbersome (three with mono-stable membranes single S-R latch), and such only capable holding, but not storing, information; after reset, relax to idle states, information lost. In this work, we...
The oil and gas industry faces increasing pressure to remove people from dangerous offshore environments. Robots present a cost-effective safe method for inspection, repair, maintenance of topside marine infrastructure. In this work, we introduce new multi-sensing platform, the Limpet, which is designed be low-cost highly manufacturable, thus can deployed in huge collectives monitoring platforms. Limpet considered an instrument, where abstract terms, instrument device that transforms...
Significance Soft structures and materials are easily susceptible to mechanical instabilities, which can be harnessed for function, such as controlled locomotion. Here, we show how a reversible conical buckling instability of pneumatically actuated sheet leads an amphibious morph-bot that crawl on land or swim in water. Our approach enables the design novel shape-changing robots other bioinspired machines at multiple scales using simple constituent power sources.
The control of pneumatically driven soft robots typically requires electronics. Microcontrollers are connected to power electronics that switch valves and pumps on off. As a recent alternative, fluidic methods have been introduced, in which digital logic gates permit multiple actuation states be achieved systems. Such systems demonstrated autonomous behaviors without the use However, controllers required complex fabrication processes. To democratize exploration controllers, we developed...
Developing soft circuits from individual logic gates poses a unique challenge: with increasing numbers of gates, the design and implementation lead to inefficiencies due mathematically unoptimized wiring mistakes during assembly. It is therefore practically important introduce tools that support development circuits. We developed web-based graphical user interface, <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">the Soft Compiler</i> ,...
Increasing amounts of attention are being paid to the study Soft Sensors and Systems. Robotic Systems require input from advances in field Sensors. sensors can help a soft robot perceive act upon its immediate environment. The concept integrating sensing capabilities into robotic systems is becoming increasingly important. One challenge that most existing have requirement be hardwired power supplies or external data processing equipment. This hinders ability system designer integrate...
Pneumatic soft robots are typically fabricated by molding, a manual fabrication process that requires skilled labor. Additive manufacturing has the potential to break this limitation and speed up but struggles with consistently producing high-quality prints. We propose low-cost approach improve print quality of desktop fused deposition modeling adding webcam printer monitor printing detect correct defects such as holes or gaps. demonstrate our improves air-tightness printed pneumatic...
Existing fluidic soft logic gates for controlling robots typically depend on labor-intensive manual fabrication or costly printing methods. In our research, we utilize Fused Deposition Modeling to create fully 3D-printed gates, fabricating a valve from thermoplastic polyurethane. We investigate the 3D of tubing and introduce novel extrusion nozzle production. Our approach significantly reduces production time valves 27 hours using replica molding 3 with FDM printing. apply develop optimized...
Biology is replete with soft mechanisms of potential use for robotics. Here, we report that a soft, toroidal hydrostat can be used to perform three functions found in both living and engineered systems: gripping, catching, conveying. We demonstrate gripping mechanism uses tubular inversion encapsulate objects within crumpled elastic membrane under hydrostatic pressure. This produces forces depend predictably upon the geometric materials properties system. next catching akin chameleon's...
Scaling up robot swarms to collectives of hundreds or even thousands without sacrificing sensing, processing, and locomotion capabilities is a challenging problem. Low-cost robots are potentially scalable but the majority existing systems have limited capabilities, these limitations substantially constrain type experiments that could be performed by robotics researchers. As an alternative increasing quantity reducing their functionality, we developed new technology delivers increased...
We are part of a growing community researchers who developing new class soft machines. By using mechanically materials (MPa modulus) we can design systems which overcome the bulk-mechanical mismatches between biological and hard engineered components. To develop fully integrated machines—which include power, communications, control sub-systems—the research requires methods for interconnecting electronics.
Scaling up robot swarms to collectives of hundreds or even thousands without sacrificing sensing, processing, and locomotion capabilities is a challenging problem. Low-cost robots are potentially scalable, but the majority existing systems have limited capabilities, these limitations substantially constrain type experiments that could be performed by robotics researchers. Instead adding functionality more components therefore increasing cost, we demonstrate how low-cost hardware can used...