3 papers
cs.RO2026
Snapping Actuators with Asymmetric and Sequenced Motion
Xin Li, Ye Jin, Mohsen Jafarpour +2
Snapping instabilities in soft structures offer a powerful pathway to achieve rapid and energy-efficient actuation. In this study, an eccentric dome-shaped snapping actuator is dev…
cs.RO2026
Ori-Sense: origami capacitive sensing for soft robotic applications
Hugo de Souza Oliveira, Xin Li, Mohsen Jafarpour +1
This work introduces Ori-Sense, a compliant capacitive sensor inspired by the inverted Kresling origami pattern. The device translates torsional deformation into measurable capacit…
cs.RO2026
Tendon-Driven Reciprocating and Non-Reciprocating Motion via Snapping Metabeams
Mohsen Jafarpour, Ayberk Yüksek, Shahab Eshghi +2
Snapping beams enable rapid geometric transitions through nonlinear instability, offering an efficient means of generating motion in soft robotic systems. In this study, a tendon-d…