Publications

2017

Kumar K.*, Liu J.*, Christianson C., Ali M., Tolley M. T., Aizenberg J., Ingber D. E., Weaver J. C., Bertoldi K., "Biologically Inspired Functionally Graded End Effectors for Soft RoboticApplications", Soft Robotics, to appear.

Kim Y. S., Lu J., Shih B., Gharibans A., Zou Z., Matsuno K., Aguilera R., Xiao J., Meek A., Tolley M. T., Coleman T. P. (2017) “Scalable Manufacturing of Solderable and Stretchable Physiologic Sensing Systems”, Advanced Materials, to appear.

Polygerinos P., Correll N., Morin S. A., Mosadegh B., Onal C. D., Petersen K., Cianchetti M., Tolley M. T., Shepherd, R. F. (2017), "Soft Robotics: Review of Fluid-Driven Intrinsically Soft Devices; Manufacturing, Sensing, Control, and Applications in Human-Robot Interaction", Advanced Engineering Materials, e201700016.

Weston-Dawkes W. P., Ong A. C., Abdul Majit M. R., Joseph F., Tolley M. T. (2017), "Towards Rapid Mechanical Customization of cm-scale Self-Folding Agents", Int. Conf. on Intelligent Robots and Systems (IROS), Vancouver, Sept. 2017, to appear.

Shih B., Drotman D., Christianson C., Huo Z., White R., Christensen H. I., Tolley M. T., (2017) "Custom Soft Robotic Gripper Sensor Skins for Haptic Object Visualization", Int. Conf. on Intelligent Robots and Systems (IROS), Vancouver, Sept. 2017, to appear.

Kalisky T., Wang Y., Shih B., Drotman D., Jadhav S., Aronoff-Spencer E., and Tolley M T., (2017) "Differential Pressure Control of 3D Printed Soft Fluidic Actuators", Int. Conf. on Intelligent Robots and Systems (IROS), Vancouver, Sept. 2017, to appear.

Minori A., Jadhav S., He Q., Cai S., Tolley M. T., "Reversible actuation of origami inspired composites using liquid crystal elastomers", ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), Snowbird UT, Sept. 2017.

Drotman D., Jadhav S., Karimi M., deZonia P., Tolley M. T., (2017) "3D Printed Soft Actuators for a Legged Robot Capable of Navigating Unstructured Terrain", Int. Conf. on Robotics and Automation (ICRA), Singapore, May 2017, pp. 5532-5538.

Christianson C., Goldberg N. , Cai S., Tolley M. T., (2017) “Fluid electrodes for submersible robotics based on dielectric elastomer actuators,” SPIE Electroactive Polymer Actuators and Devices (EAPAD) XIX, Portland OR, March 2017. *Winner of First Place SPIE Best Student Paper Award*

Jadhav S., Kannanda V., Kang B., Tolley M. T., Schulze J. P., (2017) "Soft robotic glove for kinesthetic haptic feedback in virtual reality environments", IS&T Electronic Imaging: The Engineering Reality for Virtual Reality proceedings, IS&T Springfield VA, 2017, pp. 19-24.

Shih B., Drotman D., Christianson C., Lee S., Tolley M. T. (2017) "Towards Rapid Fabrication of Soft Robot Hands for Haptic Object Visualization", Robotic Materials workshop, Robotics: Science and Systems (RSS), Boston, MA, July 2017.

2016

Schultz J., Mengüç Y., Tolley M., Vanderborght B., (2016) "What Is the Path Ahead for Soft Robotics?", Soft Robotics, 3(4), pp. 159-160.

Nisser M., Felton S., Tolley M. T., Rubenstein M., Wood R. (2016) "Feedback-Controlled Self-Folding of Autonomous Robot Collectives", Int. Conf. on Intelligent Robots and Systems (IROS), Daejeon, Korea, Oct. 2016, pp. 1254-1261.

Koh J.S., Aukes D.M., Araki B., Pohorecky S., Mulgaonkar Y., Tolley M. T., Kumar V., Rus D., Wood, R.J. (2016) "A Modular Folded Laminate Robot Capable of Multi Modal Locomotion". In International Symposium on Experimental Robotics, Tokyo, Japan, pp. 59-70.

Haj-Omar A., Kim Y.-S., Glick P., Tolley M. T., Thompson II W., Coleman T. (2016) "Stretchable and Flexible Adhesive-Integrated Antenna for Biomedical Applications", IEEE International Symposium on Antennas and Propagation/USNC-URSI National Radio Science, Fajardo, PR, June 2016, pp. 459-460.

Mulgaonkar Y., Araki B., Koh J.-S., Guerrero-Bonilla L., Aukes D. M., Makineni A., Tolley M. T., Rus D., Wood R. J., Kumar V. (2016) “The Flying monkey: a multifunctional mesoscale robot that can run, fly, and grasp”, Int. Conf. on Robotics and Automation (ICRA), Stockholm, Sweden, May 2016, pp. 4672-4679.

Minori A., Shih B., Christianson C., Tolley M. T., "3D Printed Shape Memory Polymer Composite for Fabric Actuation", Robot Makers 2 Workshop, Robotics: Science and Systems (RSS), Ann Arbor, MI, June 2016.

Dezonia P., Drotman D., Tolley M. (2016) "Low-Cost Open-Source Mechanical Tester for Soft Robotics", Robot Makers 2 Workshop, Robotics: Science and Systems (RSS), Ann Arbor, MI, June 2016.

2015

Bezzo, N., Mehta, A., Onal, C., Tolley, M. T. (2015) "Robot Makers: The Future of Digital Rapid Design and Fabrication of Robots", in Robotics & Automation Magazine, IEEE , 22:4, pp. 27-36. *Winner of 2016 RAM Best Paper Award*

Bartlett N. W.*, Tolley M. T.*, Overvelde J.T.B., Weaver J.C., Mosadegh B., Bertoldi K, Whitesides G. M., Wood R. J. (2015) “A 3D Printed, Functionally Graded Soft Robot Powered by Combustion”, Science, 349:6244, pp. 161-165 . *these authors contributed equally to this work

Rus D., Tolley, M. T. (2015) "Design, fabrication and control of soft robots", Nature, 521, pp. 467–475.

Onal C. D., Tolley M. T., Wood R. J., Rus D. (2015) “Origami Inspired Printed Robots”, Transactions on Mechatronics, 20:5, pp. 2214-2221.

Trimmer B., Vanderborght B., Mengüç Y., Tolley M., Schultz J. (2015) "Soft Robotics as an Emerging Academic Field", Soft Robotics, 2(4), pp.131-134.

Trimmer B., Bartlett N.W., Tolley M.T. (2015) "New Developments in Soft Robotics: An Interview with Nicholas W. Bartlett and Michael T. Tolley", Soft Robotics, 2(3), pp.93-95.

Drotman D., Friesen J. M., Otani K., Tolley M. T. (2015) "Multiple Degree of Freedom Pneumatic Actuation for an Untethered Soft Robotic Quadruped", Soft Robotics: Actuation, Integration, and Applications Workshop, Int. Conf. on Robotics and Automation (ICRA), Seattle WA, May 2015.

2014

Felton S. M., Tolley M. T., Demaine E., Rus D., Wood R. J. (2014) “A Method for Building Self-Folding Machines”, Science, 345:6197, pp. 644-646.

Tolley M. T., Shepherd R. F., Mosadegh B., Galloway K. C., Wehner M., Karpelson M., Wood R. J., Whitesides G. M. (2014) “A Resilient, Untethered Soft Robot”, Soft Robotics, 1:3, pp. 213-223.

Wehner M., Tolley M. T., Menguc Y., Park Y.-L., Mozeika A., Ding Y., Onal C., Shepherd R. F., Whitesides G. M., Wood R. J. (2014), “Pneumatic Energy Sources for Autonomous and Wearable Soft Robotics”, Soft Robotics, 1:4, pp. 263-274.

Tolley M. T., Felton S. M., Miyashita S., Aukes D., Rus D., Wood R. J. (2014) “Self-folding origami: shape memory composites activated by uniform heating”, Smart Materials and Structures, 23:9, 094006.

Miyashita S., Meeker L., Tolley M. T., Wood R. J., Rus D. (2014) “Self-Folding Miniature Elastic Electric Devices”, Smart Materials and Structures, 23:9, 094005.

Tolley M. T., Shepherd R. F., Karpelson M., Bartlett N. W., Galloway K. C., Wehner M., Nunes R., Whitesides G. M., Wood R. J. (2014) “An Untethered Jumping Soft Robot”, Int. Conf. on Intelligent Robots and Systems (IROS), Chicago, IL, Sept. 2014, pp. 561-566. *JTCF Novel Technology Award Finalist*

Stergiopulos C., Vogt D., Tolley M. T., Wehner M., Barber J., Whitesides G. M., Wood R. J.(2014) “A Soft Combustion-Driven Pump for Soft Robots”, ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), Newport, RI, Sept. 2014.

Felton S. M., Tolley M. T., Wood R. J. (2014) “Mechanically Programmed Self-Folding at the Millimeter Scale”, Int. Conf. on Automation Science and Engineering (CASE), Taipei, Taiwan, Aug. 2014, pp. 1232-1237.

Shin B.H., Felton S. M., Tolley M. T., Wood R. J. (2014) “Self-Assembling Sensors for Printable Machines”, Int. Conf. on Robotics and Automation (ICRA), Hong Kong, China, May 2014, pp. 4417-4422.

An B., Miyashita S., Tolley M. T., Aukes D. M., Meeker L., Demaine E. D., Demaine M. L., Wood R. J., Rus D. (2014) “An End-to-End Approach to Making Self-Folded 3D Surface Shapes by Uniform Heating”, Int. Conf. on Robotics and Automation (ICRA), Hong Kong, China, May 2014, pp. 1466-1473.

Napp N., Araki B., Tolley M. T., Nagpal R., Wood R. J. (2014) “Simple Passive Valves for Addressable Pneumatic Actuation”, Int. Conf. on Robotics and Automation (ICRA), Hong Kong, China, May 2014, pp. 1440-1445.

2013

Felton S. M., Tolley M. T., Shin B.H., Onal C. D., Demaine E., Rus D., Wood R. J. (2013) “Self-folding with shape memory composites”, Soft Matter, 9, pp. 7688-7694. *Cover article*

Tolley M. T., Felton S. M., Miyashita S., Xu L., Shin B.H., Zhou M., Rus D., Wood R. J. (2013) “Self-Folding Shape Memory Laminates for Automated Fabrication”, Int. Conf. on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, November 2013, pp. 4931-4936.

Felton S. M., Tolley M. T., Onal C. D., Rus D., Wood R. J. (2013) “Robot Self-Assembly by Folding: A Printed Inchworm Robot”, Int. Conf. on Robotics and Automation (ICRA), Karlsruhe, Germany, May 2013, pp. 277-282.

2011

Tolley M. T., Lipson H. (2011) “On-line Assembly Planning for Stochastically Reconfigurable Systems”, International Journal of Robotics Research, 30:13, pp. 1566 - 1584.

Tolley, M. T., Lipson, H. (2011) “Programmable 3D Stochastic Fluidic Assembly of cm-Scale Modules”, IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2011), San Francisco CA, September 2011, pp. 4366-4371.

Tolley, M. T., Hiller, J., Lipson, H. (2011) "Evolutionary Design and Assembly Planning for Stochastic Modular Robots", in Bredeche N., Doncieux S. and Mouret J.-B. (Eds.), New Horizons in Evolutionary Robotics: post-proceedings of the 2010 EvoDeRob workshop, pp. 211-225. Berlin, Germany: Springer.

2010

Kalontarov M., Tolley M. T., Lipson H., Erickson D. (2010) “Hydrodynamically Driven Docking of Blocks for 3D Fluidic Assembly”, Microfluidics and Nanofluidics, 9, pp. 551–558.

Tolley M. T., Kalontarov M., Neubert J., Erickson D., Lipson H. (2010) “Stochastic Modular Robotic Systems: A Study of Fluidic Assembly Strategies”, IEEE Transactions on Robotics, 26, pp. 518-530.

Tolley, M. T., Lipson, H. (2010) “Fluidic Manipulation for Scalable Stochastic 3D Assembly of Modular Robots”, Int. Conf. on Robotics and Automation (ICRA), Anchorage AK, May 2010, pp. 2473-2478.

2009

Krishnan M., Tolley M. T., Lipson H., Erickson D. (2009) “Hydrodynamically Tunable Affinities for Fluidic Assembly”, Langmuir, 25, pp. 3769-3774.

2008

Tolley M. T., Krishnan M., Erickson D., Lipson H. (2008) “Dynamically Programmable Fluidic Assembly”, Applied Physics Letters, 93, 254105.

Krishnan M., Tolley M. T., Lipson H., Erickson D. (2008) “Increased Robustness for Fluidic Self Assembly”, Physics of Fluids, 20, 073304.

Krishnan M., Tolley M. T., Lipson H., Erickson D. (2008) “Dynamically Tunable Affinities for Fluidic Self Assembly”, Am. Inst. of Chem. Engineers (AICHE) Annual Meeting, Philadelphia PA, November 2008, 485e.

Tolley M. T., Krishnan M., Lipson H., Erickson D. (2008) “Advances Towards Programmable Matter”, Int. Conf. Miniaturized Systems for Chemistry and Life Sciences (MicroTAS), San Diego CA, October 2008, pp. 653-655.

Chung M., Malone E., Tolley M. T., Chepaitis A. J., Lipson H. (2008) “Object Augmentation for the Visually Impaired Using RP”, Solid Freeform Fabrication Symp. (SFF), Austin TX, August 2008.

Tolley M. T., Baisch A., Krishnan M., Erickson D., Lipson H. (2008) “Interfacing Methods for Fluidically-Assembled Microcomponents”, IEEE Int. Conf. Micro Electro Mechanical Systems (MEMS), Tucson AZ, January 2008, pp. 1073-1076.

2007

Krishnan M., Tolley M. T., Lipson H., Erickson D. (2007) “Directed Hierarchical Self Assembly - Active Fluid Mechanics at the Micro and Nanoscales”, ASME Int. Mechanical Engineering Cong. and Expo. (IMECE), Seattle WA, November 2007. *Winner of Best Presentation award*

2006

Tolley M. T., Zykov V., Lipson H., Erickson D. (2006) “Directed Fluidic Self-Assembly of Microscale Tiles”, Int. Conf. Miniaturized Systems for Chemistry and Life Sciences (MicroTAS), Tokyo Japan, October 2006, pp. 1552-1554.