Publications by Harshal Arun Sonar

Body impact evaluation system and wearable measurement system therefor

A measurement system (3) for a wearable item (2) comprising a pressure sensing system including a plurality of capsule chambers (22) each filled with a fluid, and pressure sensors (28) connected to the capsule chambers configured to measure a variation in ...

2024

Body impact evaluation system and wearable measurement system therefor

Kamiar Aminian, Harshal Arun Sonar

A measurement system for a wearable item comprising a capacitive pressure sensing system (5) including a plurality of capacitive sensors (6) comprising a deformable insulator layer (32a, 32b) and at least first and second electrodes (30a, 30b, 30c) on oppo ...

2024

Hand and face somatotopy shown using MRI-safe vibrotactile stimulation with a novel soft pneumatic actuator (SPA)-skin interface

Jamie Paik, Harshal Arun Sonar

The exact somatotopy of the human facial representation in the primary somatosensory cortex (S1) remains de-bated. One reason that progress has been hampered is due to the methodological challenge of how to apply automated vibrotactile stimuli to face area ...

ACADEMIC PRESS INC ELSEVIER SCIENCE2023

Soft Touch using Soft Pneumatic Actuator-Skin as a Wearable Haptic Feedback Device

Jamie Paik, Harshal Arun Sonar, Jian-Lin Huang

Understanding the external environment depends heavily on vision, audition, and touch. Like vision and audition, the human sense of touch is complex. Tactile perception is composed of multiple fundamental and physical experiences felt as changes in stiffne ...

2021

Flow Path Optimization for Soft Pneumatic Actuators: Towards Optimal Performance and Portability

Jamie Paik, Harshal Arun Sonar, Sagar Dattatray Joshi

Soft pneumatic actuators (SPAs) are highly desirable for interactive robotics applications owing to their unconventional properties like high compliance, safe human-machine interaction and adaptable design space. The SPA dynamic behaviour is governed by pn ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021

Comprehensive Interactive Soft Interfaces for Wearable Tactile Feedback

Harshal Arun Sonar

As the field of robotics continues to grow outside the manufacturing environment into our daily lives, the interactions between humans and robots are increasingly becoming close and dynamic. This type of environment requires robots to be less rigid, multi- ...

EPFL2021

Closed-Loop Haptic Feedback Control Using a Self-Sensing Soft Pneumatic Actuator Skin

Stéphanie Lacour, Jamie Paik, Aaron Powers Gerratt, Harshal Arun Sonar

In this article, we achieve a closed-loop control over haptic feedback, first time for an entirely soft platform. We prototyped a novel self-sensing soft pneumatic actuator (SPA) with soft strain sensors, called SPA-skin, which withstands large multiaxial ...

2020

Age-Dependent Asymmetry of Wrist Position Sense Is Not Influenced by Stochastic Tactile Stimulation

Olivier Lambercy, Jamie Paik, Harshal Arun Sonar

Stochastic stimulation has been shown to improve movement, balance, the sense of touch, and may also improve position sense. This stimulation can be non-invasive and may be a simple technology to enhance proprioception. In this study, we investigated wheth ...

2020

Design and Computational Modeling of a Modular, Compliant Robotic Assembly for Human Lumbar Unit and Spinal Cord Assistance (vol 7, 14391, 2017)

Jamie Paik, Harshal Arun Sonar, Gunjan Agarwal, Matthew Aaron Robertson

Nature Research2018

A reconfigurable interactive interface for controlling robotic origami in virtual environments

Jamie Paik, Zhenishbek Zhakypov, Harshal Arun Sonar, Jian-Lin Huang

Origami shape transformation is dictated by predefined folding patterns and their folding sequence. The working principle of robotic origami is based on the same principle: we design quasi-two-dimensional tiles and connecting hinges and define and program ...

2018

An Any-Resolution Distributed Pressure Localization Scheme Using a Capacitive Soft Sensor Skin

Jamie Paik, Harshal Arun Sonar, Michelle Ching-Sum Yuen

We present a method to determine the location of an applied pressure on a large area, monolithic silicone based capacitive sensor. In contrast to pressure sensor arrays composed of n x n discrete sensors, we utilize a single sensor body with a single instr ...

2018

A soft portable wearable pneumatic interactive suit

Jamie Paik, Harshal Arun Sonar, Matthew Aaron Robertson, Sagar Dattatray Joshi, Tigmanshu Bhatnagar

A fully wearable system used for communication and information transfer between two users or between a user and a machine to render an effective and intuitive physical interface for combined input and output functions, the fully wearable system including a ...

2018

Soft Pneumatic Gelatin Actuator for Edible Robotics

Dario Floreano, Jun Shintake, Jamie Paik, Harshal Arun Sonar, Yegor Piskarev

We present a fully edible pneumatic actuator based on gelatin-glycerol material. The actuator is monolithic, fabricated via a molding process, and measures 90 mm in length, 20 mm in width, and 17 mm in thickness. Thanks to the material mechanical character ...

2017

Design and Computational Modeling of a Modular, Compliant Robotic Assembly for Human Lumbar Unit and Spinal Cord Assistance

Jamie Paik, Harshal Arun Sonar, Gunjan Agarwal, Matthew Aaron Robertson

Wearable soft robotic systems are enabling safer human-robot interaction and are proving to be instrumental for biomedical rehabilitation. In this manuscript, we propose a novel, modular, wearable robotic device for human (lumbar) spine assistance that is ...

Nature Research2017

Modeling, Design, and Development of Soft Pneumatic Actuators with Finite Element Method

William Curtin, Jamie Paik, Philip Arthur Moseley, Juan Manuel Florez Marin, Harshal Arun Sonar, Gunjan Agarwal

This work presents a comprehensive open-source simulation and design tool for Soft pneumatic actuators (SPAs) using finite element method, compatible and extensible to a diverse range of soft materials and design parameters. Thorough characterization of th ...

Wiley-Blackwell2016

Soft Pneumatic Actuator Skin with Piezoelectric Sensors for Vibrotactile Feedback

Jamie Paik, Harshal Arun Sonar

The latest wearable technologies demand more intuitive and sophisticated interfaces for communication, sensing, and feedback closer to the body. Evidently, such interfaces require flexibility and conformity without losing their functionality even on rigid ...

Frontiers Media Sa2016