Research activities

Layer-jamming soft gripper for improved stiffness control and underwater adhesion

Authors: Minseong Kim,  Junyeock Oh, Donghoon Son
Journal: Extreme Mechanics Letters
Year: 2025

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Machine Learning‐Based Shear Optimal Adhesive Microstructures with Experimental Validation 

Authors: Cem Balda Dayan, Donghoon Son, Amirreza Aghakhani, Yingdan Wu, Sinan Ozgun Demir, Metin Sitti
Journal: Small
Year: 2023

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Tissue Adhesion-Controllable Hydrogel Robot 

• Biocompatible

• Temperature based control of the adhesion

Authors: Y.-W. Lee*, S. Chun*, D. Son*, X. Hu, M. Schneider, M. Sitti (*equal contribution)
Journal: Advanced Materials
Year: 2022

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Neuro-navigation of wireless millirobots 

• Permanent magnet array driven actuation

• Magnetic-energy based control method

Authors: D. Son, M. Urgurlu, M. Sitti
Journal: Science Advances
Year: 2021

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Machine-learning based Dry Adhesive Fibril Shape Design

• Hyperelastic simulations FEM in concert with Bayesian optimization

• Experimentally proved

Authors: D. Son,  V. Liimatainen, M. Sitti
Journal: Small
Year: 2021

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Self-adaptive Robotic Soft Gripper Design

• Complex 3D shape adaptation

• Grips objects smaller than the gripper with adaptation

• Delicate objects handled without damages

Authors: S. Song*, D.-M. Drotlef*, D. Son*, A. Koivikko, M. Sitti (*equal contribution)
Journal: Advanced Science
Year: 2021

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Control and Teleoperation of Robotic Capsule Endoscopes

• Magnetic-potential-energy-trap-based control

• Master-slave system in combination of magnetic actuation and localization systems

Magnetically Actuated Soft Capsule Endoscope Ex-vivo Experiments

Biopsy of embedded phantom tumors in porcine stomach

Magnetically Actuated Soft Robotic Capsule Endoscope for Fine-needle Biopsy

A novel design that enables biopsy of a stomach using fine-needle capillary biopsy with soft body design

9-coil Electromagnetic Actuation System

• Optimized for vertical magnetic force

• Large workspace to cover a stomach

• Magnetic energy trap to control robotic capsule endoscopes

Simultaneous Calibration of Magnetic Localization and Actuation Systems

• Automatic calibration of ~1,800 parameters

• Significant calibration quality (R2>0.99)

A 5-D Localization Method for a Magnetically Manipulated Untethered Robot Using a 2-D Array of Hall-Effect Sensors

• Magnetic localization method compatible with magnetic actuation