3 accepted papers
A pneumatic linear actuator is presented and evaluated. Designed to operate in demanding environments such as MRI, it is developed to be used with two motion control modes: 1) a step-by-step mode with tooth-based gripping to ensure precision, 2) a continuous mode available locally for fine positioni…
Non-rigidly foldable origamis are of great interest to build robotic components, as they are light, offer large deployability and can also be multistable. In this paper, we consider the Kresling tower, and propose an original way to actively modulate its kinetostatic properties. Actuated stiffening…
In this paper, a new multifunctional compliant joint is introduced for the design of unibody robotic mechanisms. Developed in the demanding context of interventional MRI, the compliant joint integrates kinematic, actuation, braking and sensing functions. Such integration is performed thanks to multi…