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A Bidirectional Fabric-based Pneumatic Actuator for the Infant Shoulder: Design and Comparative Kinematic Analysis
Ipsita Sahin, Jared Dube, Caio Mucchiani +2
This paper presents the design and assessment of a fabric-based soft pneumatic actuator with low pressurization requirements for actuation making it suitable for upper extremity as…
Online Modeling and Control of Soft Multi-fingered Grippers via Koopman Operator Theory
Lu Shi, Caio Mucchiani, Konstantinos Karydis
Soft grippers are gaining momentum across applications due to their flexibility and dexterity. However, the infinite-dimensionality and non-linearity associated with soft robots ch…
Closed-loop Position Control of a Pediatric Soft Robotic Wearable Device for Upper Extremity Assistance
Caio Mucchiani, Zhichao Liu, Ipsita Sahin +4
This work focuses on closed-loop control based on proprioceptive feedback for a pneumatically-actuated soft wearable device aimed at future support of infant reaching tasks. The de…