211 citations · 317 across the 18 of their papers we have counts for
19 papers
Interdisciplinary Workshop on Mechanical Intelligence: Summary Report
Victoria A. Webster-Wood, Nicholas Gravish, Amir Alavi +37
This report provides a summary of the outcomes of the Interdisciplinary Workshop on Mechanical Intelligence held in 2024. Mechanical Intelligence (MI) represents the phenomenon tha…
Soft Everting Prosthetic Hand and Comparison with Existing Body-Powered Terminal Devices
Gayoung Park, Katalin Schäffer, Margaret M. Coad
In this paper, we explore the use of a soft gripper, specifically a soft inverting-everting toroidal hydrostat, as a prosthetic hand. We present a design of the gripper integrated…
Field Insights for Portable Vine Robots in Urban Search and Rescue
Ciera McFarland, Ankush Dhawan, Riya Kumari +3
Soft, growing vine robots are well-suited for exploring cluttered, unknown environments, and are theorized to be performant during structural collapse incidents caused by earthquak…
Stretchable Pneumatic Sleeve for Adaptable, Low-Displacement Anchoring in Exosuits
Katalin Schaffer, Ultan Fallon, Margaret M. Coad
Despite recent advances in wearable technology, interfacing movement assistance devices with the human body remains challenging. We present a stretchable pneumatic sleeve that can…
Estimating Infinite-Dimensional Continuum Robot States From the Tip
Tongjia Zheng, Ciera McFarland, Margaret Coad +1
Knowing the state of a robot is critical for many problems, such as feedback control. For continuum robots, state estimation is an incredible challenge. First, the motion of a cont…
Soft Wrist Exosuit Actuated by Fabric Pneumatic Artificial Muscles
Katalin Schäffer, Yasemin Ozkan-Aydin, Margaret M. Coad
Recently, soft actuator-based exosuits have gained interest, due to their high strength-to-weight ratio, inherent safety, and low cost. We present a novel wrist exosuit actuated by…
Haptic Guidance and Haptic Error Amplification in a Virtual Surgical Robotic Training Environment
Yousi A. Oquendo, Margaret M. Coad, Sherry M. Wren +5
Teleoperated robotic systems have introduced more intuitive control for minimally invasive surgery, but the optimal method for training remains unknown. Recent motor learning studi…
Soft Air Pocket Force Sensors for Large Scale Flexible Robots
Michael R. Mitchell, Ciera McFarland, Margaret M. Coad
Flexible robots have advantages over rigid robots in their ability to conform physically to their environment and to form a wide variety of shapes. Sensing the force applied by or…
Collapse of Straight Soft Growing Inflated Beam Robots Under Their Own Weight
Ciera McFarland, Margaret M. Coad
Soft, growing inflated beam robots, also known as everting vine robots, have previously been shown to navigate confined spaces with ease. Less is known about their ability to navig…
Hybrid Soft-Rigid Continuum Robot Inspired by Spider Monkey Tail
Mary C. Doerfler, Katalin Schäffer, Margaret M. Coad
Spider monkeys (genus Ateles) have a prehensile tail that functions as a flexible, multipurpose fifth limb, enabling them to navigate complex terrains, grasp objects of various siz…
Self-Propelled Soft Everting Toroidal Robot for Navigation and Climbing in Confined Spaces
Nelson G. Badillo Perez, Margaret M. Coad
There are many spaces inaccessible to humans where robots could help deliver sensors and equipment. Many of these spaces contain three-dimensional passageways and uneven terrain th…
Robot-Assisted Surgical Training Over Several Days in a Virtual Surgical Environment with Divergent and Convergent Force Fields
Yousi A. Oquendo, Zonghe Chua, Margaret M. Coad +5
Surgical procedures require a high level of technical skill to ensure efficiency and patient safety. Due to the direct effect of surgeon skill on patient outcomes, the development…
Task-Specific Design Optimization and Fabrication for Inflated-Beam Soft Robots with Growable Discrete Joints
Ioannis Exarchos, Karen Wang, Brian H. Do +4
Soft robot serial chain manipulators with the capability for growth, stiffness control, and discrete joints have the potential to approach the dexterity of traditional robot arms,…
Distributed Sensor Networks Deployed Using Soft Growing Robots
Alexander M. Gruebele, Andrew C. Zerbe, Margaret M. Coad +2
Due to their ability to move without sliding relative to their environment, soft growing robots are attractive for deploying distributed sensor networks in confined spaces. Sensing…
A Tip Mount for Transporting Sensors and Tools using Soft Growing Robots
Sang-Goo Jeong, Margaret M. Coad, Laura H. Blumenschein +5
Pneumatically operated soft growing robots that extend via tip eversion are well-suited for navigation in confined spaces. Adding the ability to interact with the environment using…
Human-centered Control of a Growing Soft Robot for Object Manipulation
Fabio Stroppa, Ming Luo, Giada Gerboni +3
We present a user-friendly interface to teleoperate a soft robot manipulator in a complex environment. Key components of the system include a manipulator with a grasping end-effect…
Human Interface for Teleoperated Object Manipulation with a Soft Growing Robot
Fabio Stroppa, Ming Luo, Kyle Yoshida +3
Soft growing robots are proposed for use in applications such as complex manipulation tasks or navigation in disaster scenarios. Safe interaction and ease of production promote the…
Retraction of Soft Growing Robots without Buckling
Margaret M. Coad, Rachel P. Thomasson, Laura H. Blumenschein +3
Tip-extending soft robots that "grow" via pneumatic eversion of their body material have demonstrated applications in exploration of cluttered environments. During growth, the moti…
Vine Robots: Design, Teleoperation, and Deployment for Navigation and Exploration
Margaret M. Coad, Laura H. Blumenschein, Sadie Cutler +7
A new class of continuum robots has recently been explored, characterized by tip extension, significant length change, and directional control. Here, we call this class of robots "…