6 papers
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…
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…
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,…