8 citations · 12 across the 10 of their papers we have counts for
12 papers
Continuous and large-scale: ELEANOR, the soft architected arm inspired by the elephant trunk
Giovanna A. Naselli, Anderson B. Nardin, Seonggun Joe +6
The elephant trunk is a dexterous and versatile manipulator whose performance is still unmatched in robotics. In previous works, modularity was prioritized and relatively small-sca…
Selective Unit-Cell Actuation in Lattice Structures for Distributed Morphology in Soft Robots
Trevor Exley, Altair Coutinho, Lucia Beccai
Soft lattice structures are increasingly used in robotics to tailor compliance and guide deformation; however, actuation is typically introduced at the device or module level, with…
Bidirectional Optical sensors for Actuation Tracking (BOAT) in soft lattice systems
Petr Trunin, Carolina Gay, Anderson Brazil Nardin +3
The growing adoption of lattice-based structures in soft robotics creates a need for advanced sensing solutions capable of monitoring their global deformation, particularly compres…
Surface-based Manipulation Using Tunable Compliant Porous-Elastic Soft Sensing
Gayatri Indukumar, Muhammad Awais, Diana Cafiso +2
There is a growing need for soft robotic platforms that perform gentle, precise handling of a wide variety of objects. Existing surface-based manipulation systems, however, lack th…
Optically Sensorized Electro-Ribbon Actuator (OS-ERA)
Carolina Gay, Petr Trunin, Diana Cafiso +3
Electro-Ribbon Actuators (ERAs) are lightweight flexural actuators that exhibit ultrahigh displacement and fast movement. However, their embedded sensing relies on capacitive senso…
3D-printed Soft Optical sensor with a Lens (SOLen) for light guidance in mechanosensing
Diana Cafiso, Petr Trunin, Carolina Gay +1
Additive manufacturing is enabling soft robots with increasingly complex geometries, creating a demand for sensing solutions that remain compatible with single-material, one-step f…
An Event-Based Opto-Tactile Skin
Mohammadreza Koolani, Simeon Bamford, Petr Trunin +5
This paper presents a neuromorphic, event-driven tactile sensing system for soft, large-area skin, based on the Dynamic Vision Sensors (DVS) integrated with a flexible silicone opt…
Magnetic Tactile-Driven Soft Actuator for Intelligent Grasping and Firmness Evaluation
Chengjin Du, Federico Bernabei, Zhengyin Du +3
Soft robots are powerful tools for manipulating delicate objects, yet their adoption is hindered by two gaps: the lack of integrated tactile sensing and sensor signal distortion ca…
Monolithic Units: Actuation, Sensing, and Simulation for Integrated Soft Robot Design
Trevor Exley, Anderson Brazil Nardin, Petr Trunin +2
This work introduces the Monolithic Unit (MU), an actuator-lattice-sensor building block for soft robotics. The MU integrates pneumatic actuation, a compliant lattice envelope, and…
MELEGROS: Monolithic Elephant-inspired Gripper with Optical Sensors
Petr Trunin, Diana Cafiso, Anderson Brazil Nardin +2
The elephant trunk exemplifies a natural gripper where structure, actuation, and sensing are seamlessly integrated. Inspired by the distal morphology of the African elephant trunk,…
Sensorimotor Control Strategies for Tactile Robotics
Enrico Donato, Matteo Lo Preti, Lucia Beccai +1
How are robots becoming smarter at interacting with their surroundings? Recent advances have reshaped how robots use tactile sensing to perceive and engage with the world. Tactile…
Neural Cellular Automata for Decentralized Sensing using a Soft Inductive Sensor Array for Distributed Manipulator Systems
Bailey Dacre, Nicolas Bessone, Matteo Lo Preti +4
In Distributed Manipulator Systems (DMS), decentralization is a highly desirable property as it promotes robustness and facilitates scalability by distributing computational burden…