7 papers · 1 filter
A Task-Agnostic Control Strategy for Dynamic Assistance with Pneumatically Actuated Soft Exosuits
Anoush Sepehri, Zachary Huang, Raymond de Callafon +2
Pneumatic artificial muscles have provided new opportunities to develop upper-extremity soft exosuits for reha- bilitation, augmentation, and assisted daily living. However, the co…
Real-time Estimator of Actuator Control and Health (REACH) on an Eel-Inspired Soft Robot
Zhangjingyi Jiang, Myungsun Park, Michael T. Tolley +1
An actuator health estimation algorithm for a soft swimming robot that can perform anguilliform swimming is developed. Due to harsh operational environments of underwater robots, a…
Generating Robot Hands from Human Demonstrations
Sha Yi, Nicklas Hansen, Xueqian Bai +3
Robot learning has advanced rapidly in learning control, but learning the physical body of a robot remains much more difficult because jointly searching over design and control cre…
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…
Dynamic Shape Control of Soft Robots Enabled by Data-Driven Model Reduction
Iman Adibnazari, Harsh Sharma, Myungsun Park +3
Soft robots have shown immense promise in settings where they can leverage dynamic control of their entire bodies. However, effective dynamic shape control requires a controller th…
Learning to Design Soft Hands using Reward Models
Xueqian Bai, Nicklas Hansen, Adabhav Singh +5
Soft robotic hands promise to provide compliant and safe interaction with objects and environments. However, designing soft hands to be both compliant and functional across diverse…