6 papers
Low Clearance Hinge Joint Mechanism Based on 3D Printing on Sheet Fabrication Methodology
Jaehyung Jang, Euibin Shin, Allison M. Okamura +1
This paper presents a low-clearance hinge joint mechanism based on the 3D printing on sheet fabrication method. This approach simplifies the fabrication of hinge mechanisms and ove…
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…
Adaptive Control of Motor-Position-Controlled Flexible Joint Robots with Uncertain Joint Stiffness
Annika Kirner, Grazia Zambella, Igor Kovacevic +3
Model-based control of flexible joint robots with position-controlled actuators relies on accurate knowledge of the joint compliance. In practice, precise stiffness models are ofte…
Self-Wearing Adaptive Garments via Soft Robotic Unfurling
Nam Gyun Kim, William E. Heap, Yimeng Qin +3
Robotic dressing assistance has the potential to improve the quality of life for individuals with limited mobility. Existing solutions predominantly rely on rigid robotic manipulat…
Development of a Collaborative Robotic Arm-based Bimanual Haptic Display
Joong-Ku Lee, Donghyeon Kim, Seong-Su Park +2
This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup conf…
External Steering of Vine Robots via Magnetic Actuation
Nam Gyun Kim, Nikita J. Greenidge, Joshua Davy +4
This paper explores the concept of external magnetic control for vine robots to enable their high curvature steering and navigation for use in endoluminal applications. Vine robots…