3 papers
cs.RO2026
One Print, Many Moves: Monolithic Origami-inspired Folding Actuator for Composable Soft Multi-DoF Systems
Jaehyung Jang, Zhenish Zhakypov, Jasmin Elena Palmer +3
Conventional soft robot actuators excel in compliance, but their uncontrolled deformations compromise accuracy and hinder scaling to multi-degree-of-freedom (DoF) systems. We intro…
cs.RO2022
Hoxels: Fully 3-D Printed Soft Multi-Modal & Multi-Contact Haptic Voxel Displays for Enriched Tactile Information Transfer
Zhenishbek Zhakypov, Yimeng Qin, Allison Okamura
Wrist-worn haptic interfaces can deliver a wide range of tactile cues for communication of information and interaction with virtual objects. Unlike fingertips, the wrist and forear…
cs.RO2022
FingerPrint: A 3-D Printed Soft Monolithic 4-Degree-of-Freedom Fingertip Haptic Device with Embedded Actuation
Zhenishbek Zhakypov, Allison M. Okamura
Wearable fingertip haptic interfaces provide tactile stimuli on the fingerpads by applying skin pressure, linear and rotational shear, and vibration. Designing and fabricating a co…