Publications by Matthew Aaron Robertson

3D Printed Motor-Sensory Module Prototype for Facial Rehabilitation

Jamie Paik, Amir Firouzeh, Matthew Aaron Robertson

This work demonstrates the first 3D printed wearable motor-sensory module prototype designed for facial rehabilitation, focusing on facial paralysis. The novelty of the work lies in the fast fabrication of the first fully soft working prototype, including ...

MARY ANN LIEBERT, INC2022

Soft pneumatic actuator-driven origami-inspired modular robotic ‘‘pneumagami’’

Jamie Paik, Özdemir Can Kara, Matthew Aaron Robertson

This article presents a new modular robotic platform for enabling reconfigurable, actively controlled, high-degree-of-freedom (high-DoF) systems with compact form factor. The robotic modules exploit the advantages of origami-inspired construction methods a ...

2021

Bi-Modal Control of Vacuum-Powered Soft Pneumatic Actuators with Embedded Liquid Metal-Based Strain Sensitive Skin

Laurent Mirko Dejace, Stéphanie Lacour, Jamie Paik, Matthew Aaron Robertson

Soft robotic systems are composed of active and passively deformable structures which are intrinsically compliant, flexible, and elastic. Although these features offer benefits of adaptability, robustness, and safety, controlling these types of robots is a ...

IEEE2019

RoboScallop: A Bivalve Inspired Swimming Robot

Jamie Paik, Matthew Aaron Robertson

Underwater swimming robots permit remote access to over 70% of the Earth's surface that is covered in water for a variety of scientific, environmental, tactical, or industrial purposes. Many practical applications for robots in this setting include sensing ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2019

Modular soft pneumatic actuator system design for compliance matching

Matthew Aaron Robertson

The future of robotics is personal. Never before has technology been as pervasive as it is today, with advanced mobile electronics hardware and multi-level network connectivity pushing â smartâ devices deeper into our daily lives through home automation ...

EPFL2019

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 Compact Modular Soft Surface With Reconfigurable Shape and Stiffness

Jamie Paik, Matthew Aaron Robertson, Masato Murakami, Wyatt Marshall Felt

A variety of reconfigurable surface devices, utilizing large numbers of actuated physical pixels to produce discretized 3D contours, have been developed for different purposes in research and industry. The difficulty of integrating many actuators in close ...

2018

Growing a 'cosmic beast': observations and simulations of MACS J0717.5+3745

Elena Cristina Dalla Vecchia, Matthieu Schaller, Jean-Paul Richard Kneib, Richard Massey, David Richard Harvey, Matthew Aaron Robertson, Barney Frederick Drake, Mathilde Jauzac

We present a gravitational lensing and X-ray analysis of a massive galaxy cluster and its surroundings. The core of MACS J0717.5+3745 (M(R < 1Mpc) similar to 2 x 10(15) M-circle dot, z = 0.54) is already known to contain four merging components. We show th ...

OXFORD UNIV PRESS2018

Modeling Vacuum Bellows Soft Pneumatic Actuators with Optimal Mechanical Performance

Jamie Paik, Matthew Aaron Robertson, Wyatt Marshall Felt

This paper presents the concept and model of "Vacuum Bellows," a cylindrical membrane-reinforced contractile vacuum soft pneumatic actuator (V-SPAs). These actuators consist of a tubular membrane connected to a series of interior rigid rings periodically s ...

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

Low-inertia vacuum-powered soft pneumatic actuator coil characterization and design methodology

Jamie Paik, Matthew Aaron Robertson

Recently developed soft pneumatic actuators (SPAs) powered by negative pressure have demonstrated great potential in the future of soft robotics for their high strength, intrinsic safety, low weight, and often simple design. The majority of these have only ...

2018

New soft robots really suck: Vacuum-powered systems empower diverse capabilities

Jamie Paik, Matthew Aaron Robertson

We introduce a vacuum-powered soft pneumatic actuator (V-SPA) that leverages a single, shared vacuum power supply and enables complex soft robotic systems with multiple degrees of freedom (DoFs) and diverse functions. In addition to actuation, other utilit ...

2017

JammJoint: A Variable Stiffness Device Based on Granular Jamming for Wearable Joint Support

Auke Ijspeert, Jamie Paik, Simon Lukas Hauser, Matthew Aaron Robertson

In robotics, controlling the stiffness of the joints that contribute to the robots’ degree of freedom dictates the adaptability, versatility, and safety of the whole system.We can achieve variable stiffness or impedance in a robotic system purely by the co ...

2017

Practical control methods for vacuum driven soft actuator modules

Jamie Paik, Matthew Aaron Robertson

Vacuum-powered Soft Pneumatic Actuator (VSPA) Modules have been described to afford advantages for rapid development of reconfigurable, multi-DoF soft pneumatic robots powered by vacuum by reducing their logistical complexity, however they also present new ...

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

Soft Pneumatic Actuator Fascicles for High Force and Reliability

Jamie Paik, Juan Manuel Florez Marin, Hamed Sadeghi, Matthew Aaron Robertson

Soft pneumatic actuators (SPAs) are found in mobile robots, assistive wearable devices, and rehabilitative technologies. While soft actuators have been one of the most crucial elements of technology leading the development of the soft robotics field, they ...

Mary Ann Liebert, Inc2017