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    Research

    We are developing robots and smart medical devices that are specifically intended for interacting and cooperating with humans. Our work is accomplished through new approaches to design and fabrication of actuation and sensing components (e.g. using soft materials) in addition to the development of appropriate control strategies for systems that integrate these components. Current research themes include developing soft wearable robots and characterizing their performance through biomechanical...

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    Publications

    2014

    Polygerinos, P., Wang, Z., Overvelde, J.T.B., Galloway, K., Wood, R., Bertoldi, K., Walsh, C.J. Soft Fiber-reinforced Bending Actuators. IEEE Transactions on Robotics (in review). 

    Asbeck, A., De Rossi, S., Holt, K., Walsh, C.J. A Biologically Inspired Soft Exosuit. International Journal of Robotics Research (in review).

    Asbeck, A., De Rossi, S., Galiana, I., Walsh, C.J. Anatomy of a Soft Exosuit. IEEE RAM Special Issue on Wearable Robots (accepted with revisions).

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    Soft Exosuits

    We are developing next generation soft wearable robots that use innovative textiles to provide a more conformal, unobtrusive and compliant means to interface to the human body. These robots will augment the capabilities of healthy individuals (e.g. improved walking efficiency) in addition to assisting those with muscle weakness or patients who suffer from physical or neurological disorders. As compared to a traditional exoskeleton, these systems have several advantages: the wearer's joints are unconstrained by external rigid structures, and the worn part...

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    Soft Robotics

    Multi-material fluidic actuators

    Soft fluidic actuators consisting of elastomeric matrices with embedded flexible materials (e.g. cloth, paper, fiber, particles) are of particular interest to the robotics community because they are lightweight,...

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    Smart Medical Devices

    End-effectors at mm scale

    The small scale of minimally-invasive surgical procedures presents significant challenges to developing robust, smart, and dexterous tools and end-effectors for manipulating millimeter and sub-millimeter anatomical structures (e.g...

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    Lab News

    04/2021 - Soft Robotics Mechanotherapy Leg Wrap and Textile-Based Capacitive Strain Sensor are featured in the Cornell Fashion in Transit exhibit.

    07/2019 - The Soft Robotic Glove project is featured as part of the Nature Exhibition in the Cooper Hewitt Museum in New York City. Read more...

    03/2018 – Harvard’s Office of Technology Development announce a licensing agreement with HoliStick Medical, a Paris-based startup, for a light reflecting catheter developed in the lab in collaboration with Brigham & Women’s Hospital, Boston Children’s Hospital, and MIT.

    03/2018 – Josh Gafford successfully defended his PhD thesis!

    02/2018 – Ye Ding and Myunghee Kim et al.'s work on human in the loop optimization of control parameters for a soft exosuit, a collaboration with Scott Kuindersma, is published in Science Robotics.

    01/2018 – Ye Ding successfully defended his PhD thesis!

    07/2017 – Louis Awad and Jaehyun Bae et al.'s work on a soft exosuit that improves walking in stroke patients is published in Science Translational Medicine.

    05/2017 – Giuk Lee, Jinsoo Kim, and Fausto Panizzolo et al.'s work on reducing the metabolic cost of running with a tethered soft exosuit is published in Science Robotics.

    01/2017 – Brendan Quinlivan and Sangjun Lee et al.'s paper on assistance magnitude vs. metabolic cost reductions with a multi-articular soft exosuit is featured on the online cover of Science Robotics.

    01/2017 – Ellen Roche et al.'s work on a soft robotic sleeve for supporting heart function is featured on the cover of Science Translational Medicine.

    11/2016 – Seun Araromi gives a talk on stretchable compliant pressure transducers at the IEEE Sensors 2016 conference in Orlando, Florida.

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    Past Projects

    Image-guided medical robotics

    As traditional surgical procedures are replaced by minimally invasive ones offering lower complication rates and faster patient recovery times, percutaneous image-guided targeting of deep tissue volumes is increasingly being used...

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