Introduction Bellows-type soft actuators are a common architecture that creates asymmetric motion by unfolding the excess material in the bellows. Compared to fiber-reinforced actuators where the elastomer material must strain…
Abstract Musculoskeletal injuries are one of the most common types of both battlefield and civilian injuries. Early and reliable stabilization is important to prevent further injury, minimize pain, and facilitate…
This multi-degree-of-freedom soft actuator was an exploration project aimed at identifying techniques for molding multi-lumen fiber-reinforced actuators. In this particular example, I created three independent fiber-reinforced, tube-shaped, linear actuators (M4601…
This video showcases some of my earlier explorations on soft robotic grippers. Â The video on the left is an anthropomorphic soft robotic hand with fiber-reinforce bending actuators for fingers. Â The…
Zero Volume Air Chambers This prototyping technique uses simple tools to create a network of inflatable bladders of abitrary geometry in thin elastomers. Â There are five basic steps that include…
Abstract - Locomoting soft robots typically walk or crawl slowly relative to their rigid counterparts. In order to execute agile behaviors such as jumping, rapid actuation modes are required. Here we present an untethered…
Abstract - Motivated by the need for torque sensing in the Nm range for experiments with insect-sized flapping-wing robots, we present the design, fabrication and testing of a custom single-axis torque sensor. The…
Abstract — In this work we developed a unique flapping-wing micro air vehicle (FWMAV) whose major components, i.e. the motor, transmission mechanisms, and wings, are rapidly interchangeable. When coupled with a…
Abstract - Biomechanical studies suggest that animals’ abilities to tune their effective leg compliance in response to changing terrain conditions plays an important role in their agile, robust locomotion. However,…
Project Description Grip Glove is a wearable assistive device that gives people suffering from chronic and severe hand weakness the strength to perform simple activities that they otherwise could not…
Background A treatment course for many traumatic brain injury (TBI) patients involves drilling a hole in the cranium to measure cranial pressure and to administer medication. Â What is astonishing about…
This vacuum chamber was designed to be a research tool for studying the flight characteristics of insect sized flapping robots. Sixteen viewports were positioned around the chamber to allow researchers…