12 papers
Electrostatic Clutch-Based Mechanical Multiplexer with Increased Force Capability
Timothy E. Amish, Jeffrey T. Auletta, Chad C. Kessens +2
As robotic systems become increasingly articulated, conventional actuation still dedicates one motor to each degree of freedom (DoF). Mechanical multiplexers address this limitatio…
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…
Robots That Generate Planarity Through Geometry
Jakub F. Kowalewski, Abdulaziz O. Alrashed, Jacob Alpert +3
Constraining motion to a flat surface is a fundamental requirement for equipment across science and engineering. Modern precision robotic motion systems, such as gantries, rely on…
Reconfigurable Auxetic Devices (RADs) for Robotic Surface Manipulation
Jacob Miske, Ahyan Maya, Ahnaf Inkiad +1
Robotic surfaces traditionally use materials with a positive Poisson's ratio to push and pull on a manipulation interface. Auxetic materials with a negative Poisson's ratio may exp…
ProForm: Solder-Free Circuit Assembly Using Thermoforming
Narjes Pourjafarian, Zhenming Yang, Jeffrey I. Lipton +2
Electronic waste (e-waste) is a growing global challenge, with millions of functional components discarded due to the difficulty of repair and reuse. Traditional circuit assembly r…
SCCRUB: Surface Cleaning Compliant Robot Utilizing Bristles
Jakub F. Kowalewski, Keeyon Hajjafar, Alyssa Ugent +1
Scrubbing surfaces is a physically demanding and time-intensive task. Removing adhered contamination requires substantial friction generated through pressure and torque or high lat…