Nicholas Thompson — accepted AI-conference papers

2019

Characterizing Architectures of Soft Pneumatic Actuators for a Cable-Driven Shoulder Exoskeleton

Nicholas Thompson, Ayush Sinha, Girish Krishnan

ICRA 2019poster

Low weight and innate compliance make soft pneumatic actuators an attractive method for actuating wearable robots. Performance of soft pneumatic actuators can be tailored to an application by combining them in novel architectures. We modeled and constructed nested linear and pennate architectures us…

Cited by 23 Source ↗Scholar ↗

2018

Augmented Joint Stiffness and Actuation Using Architectures of Soft Pneumatic Actuators

Nicholas Thompson, Xiaotian Zhang, Fernando Ayala, Elizabeth T. Hsiao-Wecksler, Girish Krishnan

ICRA 2018poster

Soft robotic actuators are well suited for use in exoskeleton applications due to their innate compliance and low weight. We have developed a wearable soft robotic sleeve that uses fiber reinforced elastomeric enclosures (FREEs) to provide actuation and stiffness at the elbow for augmented lifting a…

Cited by 14 Source ↗Scholar ↗