Publications associées à Robotic Origamis: Self-morphing Modular Robot

Additively manufactured stretchable zipping electrostatic actuators

The use of soft and stretchable materials allows the development of adaptive robotic systems and human-machine interfaces that are more natural and comfortable to interact with. One of the application fields that benefits the most from these compliant mate ...

EPFL2024

Permanently magnetized elastomer rotating actuator using traveling waves

Herbert Shea

We report a soft actuator that generates continuous rotation of an object placed on it by electromagnetically exciting circular travelling waves in a soft disk. The disk, that serves as the stator, is made of a stretchable composite consisting of segments ...

Iop Publishing Ltd2024

Educational Soft Underwater Robot with an Electromagnetic Actuation

Robert Marius Hennig

As demonstrated by the Soft Robotics Toolkit Platform, compliant robotics pose an exciting educational opportunity. Underwater robotics using soft undulating fins is an expansive research topic with applications such as exploration of underwater life or re ...

Mary Ann Liebert, Inc2024

Carbon based printed electrodes for DEAs: study of pad, inkjet, and stencil printing

Yves Perriard, Yoan René Cyrille Civet, Thomas Guillaume Martinez, Stefania Maria Aliki Konstantinidi, Armando Matthieu Walter, Simon Holzer

Dielectric elastomer actuators (DEAs) have raised interest due to their remarkable capabilities in various applications, such as soft robotics, haptic feedback systems, and biomedical devices. To harness the full potential of DEAs, the choice of the electr ...

Society of Photo-Optical Instrumentation Engineers (SPIE)2024

3D printed large amplitude torsional microactuators powered by ultrasound

Mehdi Ali Gadiri, Mahmut Selman Sakar, Amit Yedidia Dolev, Junsun Hwang

Here, we introduce a design, fabrication, and control methodology for large amplitude torsional microactuators powered by ultrasound. The microactuators are 3D printed from two polymers with drastically different elastic moduli as a monolithic compliant me ...

2024

Edible Soft Actuators based on Konjac Glucomannan for Underwater Operation

Dario Floreano, Jun Shintake, Ryo Kanno, Bokeon Kwak, Markéta Pankhurst

Soft robots are being increasingly developed and deployed for underwater applications such as exploration, monitoring, and rescue owing to their innate compliance, mechanical and chemical stability, and waterproof properties. However, they are still predom ...

2024

Frequency response of fiber reinforced DEAs

Yves Perriard, Yoan René Cyrille Civet, Thomas Guillaume Martinez, Stefania Maria Aliki Konstantinidi, Markus Koenigsdorff

Dielectric Elastomer Actuators (DEAs) have emerged as versatile and promising devices for a multitude of applications, including soft robotics, haptic interfaces, and artificial muscles. DEAs are an interesting soft actuator technology due to their high en ...

Society of Photo-Optical Instrumentation Engineers (SPIE)2024

Shear and steel-fibre reinforcement for the punching resistance of flat slabs at internal and edge columns

Diego Hernández Fraile

Reinforced concrete flat slabs consist of a continuous, thin concrete plate that rests on a grid of columns. The supporting surface of the columns is very small compared to the floor plan dimensions, leading to concentrations of shear forces near the colum ...

EPFL2024

A multi-material robotic finger with integrated proprioceptive and tactile capabilities produced with a circular process

Antonia Georgopoulou Papadonikolaki, Josephine Anna Eleanor Hughes, Kai Christian Junge

When developing or designing biomimetic robotic fingers with rigid and soft components and integrated sensors, fabrication is often a bottle-neck when assembling and casting processing techniques are used. This study introduces a thermoplastic multi-materi ...

IEEE2023

Acoustic Levitation apparatus (Robotics Practicals)

Lorenzo Francesco John Noseda, Mahmut Selman Sakar, Amit Yedidia Dolev, Bora Yalcin

The following data contain the information and files, which are required to recreate and build the experimental setup that is described in the Laboratory manual. Further details can be found in the associated publication “A graduate laboratory experiment t ...

Zenodo2023

Soft Bending Actuator With Fiber-Jamming Variable Stiffness and Fiber-Optic Proprioception

Sudong Lee

Soft actuators with a function of variable stiffness are beneficial to the improvement of the adaptability of robots, expanding the application areas and environments. We propose a tendon-driven soft bending actuator that can change its stiffness using fib ...

Ieee-Inst Electrical Electronics Engineers Inc2023

Dynamic control of high-voltage actuator arrays by light-pattern projection on photoconductive switches

Herbert Shea, Amir Firouzeh, Vesna Bacheva, Edouard Franck Vincent Gustave Leroy, Aiste Balciunaite

The ability to control high-voltage actuator arrays relies, to date, on expensive microelectronic processes or on individual wiring of each actuator to a single off-chip high-voltage switch. Here we present an alternative approach that uses on-chip photoco ...

SPRINGERNATURE2023

How roughness emerges on natural and engineered surfaces

Jean-François Molinari, Ramin Aghababaei

Roughness, defined as unevenness of material surfaces, plays an important role in determining how engineering components or natural objects interact with other bodies and their environment. The emergence of fractal roughness on natural and engineered surfa ...

SPRINGER HEIDELBERG2023

Accessible Soft Robotics Education with Re-configurable Balloon Robots

Yi-Shiun Wu, Josephine Anna Eleanor Hughes, Kieran Daniel Gilday

Soft robotics requires effective tools to educate the next generation of engineers and researchers. Stemming from a lack of universally accepted principles for education and with high barriers to entry in terms of fabrication and hardware, education to dat ...

IEEE2023

Fabrication and Characterization of the Kirigami-Inspired SMA-Powered Actuator

Yves Perriard, Sean Thomas, Guilain Lionel Germain Lang, Thomas Guillaume Martinez, Marjan Ghorbani

This paper presents an innovative approach to creating Shape Memory Alloys (SMA)-based actuators that are lightweight, compact, and capable of providing large strokes. Inspired by the Kirigami structure, an SMA actuator is designed using the Ω -pattern, wh ...

2023

The physics of 3D printing with light

Christophe Moser

The goal of 3D printing is to realize complex 3D structures by locally adding material in small volume elements called voxels - in contrast to successively subtracting material by etching, milling or machining. This field started with optics-based proposal ...

Nature Portfolio2023

A hybrid Selective Laser Sintering based process for the additive manufacturing of architectured composites

Erwan Philippe Guenier

Additive Manufacturing also commonly referred as 3D printing has been given a lot of interest lately. Market is growing exponentially and the aim for obtaining more complex and ready-to use parts is emerging. All the 3D printing processes consist in buildi ...

EPFL2023

Robotic Assembly of Integrally-Attached Timber Plate Structures: From Computational Design to Automated Construction

Nicolas Henry Pierre Louis Rogeau

The digitization of timber construction, the emergence of engineered wood products, and the urgent need to drastically reduce buildings' environmental impact have given a rebirth to wood as a construction material. On the one hand, increasing the use of ti ...

EPFL2023

Digital manufacturing of personalised footwear with embedded sensors

Danick Briand, Rubaiyet Iftekharul Haque, Ryan Mitchell van Dommelen, Jaemin Kim

The strong clinical demand for more accurate and personalized health monitoring technologies has called for the development of additively manufactured wearable devices. While the materials palette for additive manufacturing continues to expand, the integra ...

Nature Research2023

Additive and digital manufacturing of transient sensors and bioelectronics

Nicolas Francis Fumeaux

Transient electronics have emerged as a promising class of devices, capable of breaking down without harmful side effects to their environment. They have tremendous potential as bioresorbable electronics for temporary applications in the human body, and as ...

EPFL2023