6 accepted papers
Soft robotics hold promise in the development of safe yet powered assistive wearable devices for infants. Key to this is the development of closed-loop controllers that can help regulate pneumatic pressure in the device's actuators in an effort to induce controlled motion at the user's limbs and be…
This letter presents a new grasping approach that utilizes object inertia for picking objects using end-effectors that have no actuated degrees of freedom. The end-effector provides two contacts at a fixed distance, not necessarily antipodal, on two opposing edges of a convex object. The object is d
We propose a serpentine type tendon driven underactuated end-effector design with a closing mechanism that is triggered upon contact with an object. This end-effector can grasp objects without knowing the size a priori and is able to grasp a new object while securing another one previously grasped,…
This letter presents a new method for picking objects through quasistatic in-hand manipulation with end-effectors that have no degrees of freedom. Our stable manipulation/grasp planning is achieved with two contacts at fixed distance and the force of gravity, and is provably complete and correct. Pr
This letter presents a novel robotic manipulation technique that we call robotic edge rolling. It refers to transporting a cylindrical object by rolling on its circular edge, as human workers might maneuver a gas cylinder on the ground. Our robotic edge rolling is achieved by controlling the object
This paper presents findings from two deployments of an autonomous mobile robot in older adult low income Supportive Apartment Living (SAL) facilities. Design guidelines for the robot hardware and software were based on query of clinicians, caregivers and older adults through focus groups, member ch…