additive manufacturing; distributed actuation; variable stiffness; soft electronics; multi-DoF robot; distributed sensing; shape memory polymer; smart composite material fabrication
Joshi Sagar, Paik Jamie (2019), Multi-DoF Force Characterization of Soft Actuators, in
IEEE Robotics and Automation Letters, 4(4), 3679-3686.
Zhakypov Zhenishbek, Mori Kazuaki, Hosoda Koh, Paik Jamie (2019), Designing minimal and scalable insect-inspired multi-locomotion millirobots, in
Nature, 571(7765), 381-386.
Zhakypov Zhenishbek, Mete Mustafa, Fiorentino Julien, Paik Jamie (2019), Programmable Fluidic Networks Design for Robotic Origami Sequential Self-Folding, in
2019 2nd IEEE International Conference on Soft Robotics (RoboSoft), Seoul, Korea (South)IEEE, Seoul, Korea (South), Korea (South).
Zhakypov Zhenishbek, Heremans Florian, Billard Aude, Paik Jamie (2018), An Origami-Inspired Reconfigurable Suction Gripper for Picking Objects With Variable Shape and Size, in
IEEE Robotics and Automation Letters, 3(4), 2894-2901.
Paik Jamie (2018), Soft robot design methodology for ‘push-button’ manufacturing, in
Nature Reviews Materials, 3(6), 81-83.
Huang Jian-Lin, Zhakypov Zhenishbek, Sonar Harshal, Paik Jamie (2018), A reconfigurable interactive interface for controlling robotic origami in virtual environments, in
The International Journal of Robotics Research, 37(6), 629-647.
Zhakypov Zhenishbek, Paik Jamie (2018), Design Methodology for Constructing Multimaterial Origami Robots and Machines, in
IEEE Transactions on Robotics, 34(1), 151-165.
Zhakypov Zhenishbek, Belke Christoph H., Paik Jamie (2017), Tribot: A deployable, self-righting and multi-locomotive origami robot, in
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BCIEEE, Vancouver, BC.
Zhakypov Zhenishbek, Huang Jian-Lin, Paik Jamie (2016), A Novel Torsional Shape Memory Alloy Actuator: Modeling, Characterization, and Control, in
IEEE Robotics & Automation Magazine, 23(3), 65-74.
Giraud Frederic H., Zhakypov Zhenishbek, Paik Jamie, Design of Low-Profile Compliant Transmission Mechanisms, in
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, ChinaIEEE, Macau, China.
JoshiSagar, PaikJamie, Pneumatic supply system parameter optimization for soft actuators, in
Soft Robotics.
Dataset for multi-locomotion robot Tribot
| Author |
Zhakypov, Zhenishbek |
| Publication date |
26.01.2020 |
| Persistent Identifier (PID) |
10.5281/zenodo.3628022 |
| Repository |
Zenodo
|
| Abstract |
The dataset contains .mat files with raw and estimated data for plotting a multi-locomotion robot Tribot locomotion performance of the related Nature manuscript. The file also contains detailed data tables for robot specs, materials used, power consumption and comparison table for similar sized robots and insects reported in the literature.
Dataset for DOI: 10.1109/LRA.2019.2927936. "Multi-DoF Force Characterization of Soft Actuators"
| Author |
Joshi, Sagar |
| Publication date |
26.01.2020 |
| Persistent Identifier (PID) |
10.5281/zenodo.3627900 |
| Repository |
Zenodo
|
| Abstract |
This dataset contains the raw measurement data and MATLAB scripts for the following publication: S. Joshi and J. Paik, "Multi-DoF Force Characterization of Soft Actuators," in IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 3679-3686, Oct. 2019. doi: 10.1109/LRA.2019.2927936The .csv files contain measured values of soft actuator pressure, displacement and force output. The MATLAB scripts help to extract and plot this raw data.
The future of virtual reality (VR) would no longer be just visual. It will be tangible. The latest VR systems rely heavily on visual feedback while even the best of physical reality, haptic interfaces, only deliver singular micro-vibrations as feedback. To render an effective exteroceptive understanding of the environment, we need a physical platform that can stimulate human skin in terms of all four mechano-receptor modules (pressure, vibration, temperature, and stretch). A compliant platform that generates more diverse stimulations will improve human-machine experience. Such interactive interface with physical stimulation would not only enhance the way we communicate online but augment the learning, entertaining and physical training processes with various application in combination with visual and tactile feedback. The goal of The Surface for TAngible RealiTy, START, is to develop a moldable platform to transfer rich proprioceptive senses. To achieve this, we need 1) a modular physical interactive interface that 2) activates different tactile modalities upon command 3) over a distributed area. START will transform at will, transferring various tactile sensations of an environment / object via multiple scales and modes of physical stimulation.The objectives of the START project is to ultimately create a comprehensive design, develop materials and fabrication process for a device comprised of multiple functional layers with variable stiffness structures, sensors and active elements in an multi-DoF system that can explore: 1) auto-reconfiguration by demonstrating localized and distributed actuation to form various surface structures with its multi-active-DoF; 2) adjustable stiffness by activating localized and distributed variable stiffness capabilities of the reconfiguring surfaces; 3) distributed tactile feedback from network of distributed sensors and interfaces that can evaluate the tactile feedback. START is an application-driven project that faces three distinctive challenges. 1) Advances in design methodology to achieve structural compliance: We will study the structural and material-level effects of different thick-film-based functional layers (> 200 µm) on each other and on the discrete embedded components that include sensors, electronics, and smart materials. We will examine different design platforms in 2D and compliant mechanism to achieve the functional modularity and universality of the START.2) Novel actuation system for multi-scale and distributed actuation: We will investigate the applicability of the latest actuation systems in the low-profile, multi-DoF methods encompassing soft / smart actuators, and electrical motors. We will examine the distributed multi-DoF actuation system via simulation model and verify the distributed system controllability. 3) Advances in fabrication technology and material selection: We will extend beyond 2D and 2.5D fabrication methods that are often reserved for MEMS process. We will explore smart composite materials fabrication processes, additive manufacturing, and various lithography techniques to derive structural and functional integrity.Concurrent physical feedback systems are mostly tied to visual or vibratory actuation only. The START project and its prototypes will revolutionize the data and tactile information transmission via its multi-actuated feedback system. START will enhance the user stimulation via multiple channels and modes of actuation that will transfer dense and complex exteroceptive data instantaneously. The rich dataset retrieved from the device can be used to study the mechanics and methodology of learning and communications. START, a novel quasi-2D robotic platform, also will further the latest research on materials, multi-DoF, multi material system integration, and fabrication methods for wearable robots. The findings from each milestone prototype, engineered materials, and novel electronic components will benefit diverse fields of studies and applications including architecture, medicine, pedagogy, rehabilitation, and entertainment.