Tag Archives: Design for Soft and Origami Robotics

Self-Sensing Actuators

Overview

This project thrust introduces self-sensing actuators that merge actuation and sensing into a single component, enabling reductions in the size and weight of soft robots. Three self-sensing actuators—the I-cord knitted SMA (ICKS) actuator, the custom PET solenoid actuator from the Facial Reanimation and Bistable Gripper project, and a miniaturized tunable stiffness solenoid actuator—will showcase the self-sensing actuation capability.

Videos

I-cord Knitted SMA (ICKS) Actuator
Origami-Inspired Bistable Gripper with the Custom PET Solenoid Actuator

Publications

Origami-Inspired Bistable Gripper with Self-Sensing Capabilities

Kim, Christopher; Yang, Lele; Anbuchelvan, Ashwath; Garg, Raghav; Milbar, Niv; Vitale, Flavia; Sung, Cynthia

Origami-Inspired Bistable Gripper with Self-Sensing Capabilities (Conference)

IEEE-RAS International Conference on Soft Robotics (Robosoft), 2024.

(Abstract | BibTeX | Links: )

Fabrication and characterization of I-cord knitted SMA actuators

Kim, Christopher; Chien, Athena; Tippur, Megha; Sung, Cynthia

Fabrication and characterization of I-cord knitted SMA actuators (Conference)

IEEE International Conference on Soft Robotics (RoboSoft), 2021.

(Abstract | BibTeX | Links: )

People

  • Christopher Kim
  • Kylie Autullo
  • Lele Yang
  • Brianna Leung
  • Athena Chien
  • Megha Tippur

Acknowledgement

Support for this project has been provided in part by the National Science Foundation (NSF) grant #EEC-1659190, by the Johnson \& Johnson WiSTEM2D program, by the University of Pennsylvania through the Center for Precision Engineering for Health, and by the Edwin and Fannie Gray Hall Center for Human Appearance Research and Education Fund. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and and do not necessarily reflect the views of funding source.