Projects

Perhaps the most popular application of soft robotics is new grippers that demonstrate high levels of adaptability. In this research, we study both anthropomorphic and synthetic grippers that use deformable bodies to their advantage. We integrate sensors and develop algorithms that harness the new capabilities of our grippers.

As a unique approach to soft robotics, we harness the principles of origami to engineer lightweight robots with complex anisotropic mechanical properties. By folding thin films into intricate, functional forms, we create continuum arms, various mobile robot bodies, and small hexapods that offer unique advantages in flexibility and strength. These robots are designed to operate efficiently in environments where traditional designs fall short, combining minimal weight with sophisticated structural capabilities. This innovative approach allows us to push the boundaries of robotic design, offering new solutions for tasks ranging from manipulation to navigation.

Extensible multisection continuum robots are characterized by their continuous and compliant structures, which provide them with superior adaptability and flexibility compared to traditional robots. We specialize in developing continuum robot manipulators constructed from modular origami-inspired sections. Our research delves into the precise modeling of their kinematics and dynamics, ensuring these soft robotic appendages can perform complex, adaptive movements. By advancing sensing and control techniques, we enable these robots to operate effectively in unpredictable environments, where traditional robots would struggle. This work paves the way for highly versatile robotic systems with applications ranging from safe assistive soft robot arms to manipulation in challenging environments.

Soft mobile robots can go into places where traditional rigid robots cannot access. Relying on their deformable bodies, they are safe and adaptable. But they tend to be slow and weak. We aim to change this last part for truly deployable soft mobility platforms in the real world.

We believe sensing and control are the most critical low-level gaps in the development of soft robotics as a field. Our approach utilizes magnetic and other non-contact sensing methods to determine dense deformation and force information. We also study novel uses of unconventional transducers.

Soft robots can be wearable. We develop a teleoperation system that delivers safe and realistic haptic feedback for intuitive control of robotic arms and grippers. The system integrates multiple sensors to detect the arm and hand configuration of the user, soft pneumatic haptic muscles, a user-to-robot mapping scheme, and sensorized grippers to measure forces. The result is an intuitive and complete haptic teleoperation interface that lets users beam into robots and feel as though they are interacting with the remote environment directly. Through multiple design iterations and rigorous user testing, we have refined the system to enable novice users to perform pick-and-place tasks efficiently and delicately. This innovation paves the way for more precise and user-friendly robotic manipulation in complex conditions.