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Supplementary data files for selected publications are available for download in this section.
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28 results for "Selected Publications"
28 results for "Selected Publications"
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ES51: Computer-Aided Machine Design ES51 is an introductory course in the design and construction of mechanical and electromechanical devices. Intended for prospective and newly declared engineering undergraduates, the course teaches fundamental...
Quasi-Passive Leg Exoskeleton for Load Carrying Augmentation
Journal Article
A quasi-passive leg exoskeleton is presented for load-carrying augmentation during walking. The exoskeleton has no actuators, only ankle and hip springs and a knee variable damper. Without a payload, the exoskeleton weighs 11.7kg and requires only 2 Watts...
Tunable, Textile-Based Joint Impedance Module for Soft Robotic Applications
Journal Article
The design of soft actuators is often focused on achieving target trajectories or delivering specific forces and torques, rather than controlling the impedance of the actuator. This article outlines a new soft, tunable pneumatic impedance module based on...
Mechanically Programmable Bend Radius for Fiber-Reinforced Soft Actuators
Conference Paper
Established design and fabrication guidelines exist for achieving a variety of motions with soft actuators such as bending, contraction, extension, and twisting. These guidelines typically involve multi-step molding of composite materials (elastomers...
EMG controlled soft robotic glove for assistance during activities of daily living
Conference Paper
This paper presents further developments, characterization and initial evaluation of a recently developed assistive soft robotic glove for individuals with hand pathologies. The glove technology utilizes a combination of elastomeric and inextensible...
An Additive Millimeter-Scale Fabrication Method for Soft Biocompatible Actuators and Sensors
Journal Article
A hybrid manufacturing paradigm is introduced that combines pop-up book microelectromechanical systems (MEMS) manufacturing with soft-lithographic techniques to produce millimeter-scale mechanisms with embedded sensing and user-defined distributed...
A continuous statistical-geometric framework for normative and impaired gaits
Journal Article
A quantitative analysis of human gait patterns in space–time provides an opportunity to observe variability within and across individuals of varying motor capabilities. Impaired gait significantly affects independence and quality of life, and thus a large...
Reducing the metabolic cost of running with a tethered soft exosuit
Journal Article
Assisting hip extension with a tethered exosuit and a simulation-optimized force profile reduces metabolic cost of running.
Self-Assembling, Low-Cost, and Modular mm-Scale Force Sensor
Journal Article
The innovation in surgical robotics has seen a shift toward flexible systems that can access remote locations inside the body. However, a general reliance on the conventional fabrication techniques ultimately limits the complexity and the sophistication...