5 papers
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…
Agonist-Antagonist Pouch Motors: Bidirectional Soft Actuators Enhanced by Thermally Responsive Peltier Elements
Trevor Exley, Rashmi Wijesundara, Nathan Tan +7
In this study, we introduce a novel Mylar-based pouch motor design that leverages the reversible actuation capabilities of Peltier junctions to enable agonist-antagonist muscle mim…
TVIM: Thermo-Active Variable Impedance Module: Evaluating Shear-Mode Capabilities of Polycaprolactone
Trevor Exley, Rashmi Wijesundara, Shuopu Wang +2
In this work, we introduce an advanced thermo-active variable impedance module which builds upon our previous innovation in thermal-based impedance adjustment for actuation systems…
Towards a Unified Naming Scheme for Thermo-Active Soft Actuators: A Review of Materials, Working Principles, and Applications
Trevor Exley, Emilly Hays, Daniel Johnson +3
Soft robotics is a rapidly growing field that spans the fields of chemistry, materials science, and engineering. Due to the diverse background of the field, there have been contras…