Robotics Research 2020
This is a summary of our recent and on-going robotics research efforts in 2020. For more information on our lab please visit https://rrl.epfl.ch/
Lab director: Prof. Jamie Paik
Video: Christoph H. Belke
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Descriptions for the footage shown in different sections of the video:
0:19 Tribot - an insect-inspired millirobot with multiple locomotion mechanisms based on origami hinges
0:32 Left: Self-sensing soft pneumatic actuator skin for closed-loop haptic feedback
Centre: Pneumagami - an origami-inspired module driven by soft pneumatic actuators
Right: Modelling and control of origami joints driven by soft pneumatic actuators
0:42 Force characterisation platform for soft pneumatic actuators in multiple degrees-of-freedom
0:50 Top: A modular origami robot consisting of flat triangles that are combined to form functional robotic shapes
Bottom: Soft vacuum-powered modules that are safe and compliant and can be stacked to achieve different tasks
1:16 Left: Haptigami - a wearable haptic feedback device for fingertips with vibrotactile and force feedback
Middle: Wearable pneumatic supply system with parameter optimisation for soft actuators
Right: Soft exosuit for elbow assistance using twisted string actuators and surface electromyography
1:29 Virtual reality interfaces for manipulating controlling origami structures and robots
1:42 Foldaway Haptics: a startup developing interactive systems with haptic feedback using origami technology
1:54 Modular origami robots reconfiguring towards various space applications including extraterrestrial exploration and astronaut assistance
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Some of the footage in this video has been published in the following scientific papers:
[1] Z. Zhakypov, K. Mori, K. Hosoda, and J. Paik, “Designing Minimal and Scalable Insect-Inspired Multi-Locomotion Millirobots”, Nature, Vol. 571, p. 381–386, 2020.
https://doi.org/10.1038/s41586-019-13...
[2] H. A. Sonar, A. P. Gerratt, S. P. Lacour, and J. Paik, “Closed-Loop Haptic Feedback Control Using a Self-Sensing Soft Pneumatic Actuator Skin” Soft Robotics, Vol. 7, No. 1, 2020.
https://doi.org/10.1089/soro.2019.0013
[3] M. A. Robertson, O. C. Kara, and J. Paik, “Soft pneumatic actuator-driven origami-inspired modular robotic “pneumagami”, IJRR, 2020.
https://doi.org/10.1177/0278364920909905
[4] S. Joshi and J. Paik, “Multi-DoF Force Characterization of Soft Actuators”, IEEE Robotics and Automation Letters, Vol. 4, No. 4, 2020.
https://doi.org/10.1109/LRA.2019.2927936
[5] C. H. Belke and J. Paik, “Mori: A Modular Origami Robot”, IEEE/ASME Transactions on Mechatronics, Vol. 22, No. 5, 2017.
https://doi.org/10.1109/TMECH.2017.26...
[6] M. A. Robertson and J. Paik, “New soft robots really suck: Vacuum-powered systems empower diverse capabilities”, Science Robotics, Vol. 2, No. 9, 2017.
https://doi.org/10.1126/scirobotics.a...
[7] M. A. Robertson, H. Sadeghi, J. M. Florez, and J. Paik, “Soft Pneumatic Actuator Fascicles for High Force and Reliability”, Soft Robotics, Vol. 4, No. 1, 2017.
https://doi.org/10.1089/soro.2016.0029
[8] M. Hosseini, R. Meattini, A. San-Millan, G. Palli, C. Melchiorri, and J. Paik, "A sEMG-Driven Soft ExoSuit Based on Twisted String Actuators for Elbow Assistive Applications," IEEE Robotics and Automation Letters, Vol. 5, No. 3, 2020.
https://doi.org/10.1109/LRA.2020.2988152
[9] M. Salerno, S. Mintchev, A. Cherpillod, S. Scaduto, and J. Paik, “Stiffness Perception of Virtual Objects Using FOLDAWAY-Touch”, Haptic Interaction, Vol. 535, AsiaHaptics 2018.
https://doi.org/10.1007/978-981-13-31...