Research

Soft Inflatable knee exosuits

We developed and evaluated a soft-knee exosuit powered by inflatable actuators with the aim to provide knee-extension moment, and assist with rehabilitation and assisted living tasks...

sOFT POLY-LIMBS

We present the design and development of the fluid-driven, wearable, Soft Poly-Limb (SPL), from the Greek word polys, meaning many. The SPL utilizes the numerous traits of soft robotics to...

Fabric-Based Soft Grippers

In this work we design soft grippers made with high-strength inflatable fabrics, offering variable range of compliance, lightweight designs, and high strength-to-weight ratios...

Soft Robotic Glove for Hand Assistance

This work presents a portable, soft robotic glove designed to augment hand rehabilitation and/or offer assistance to individuals with functional grasp pathologies...

light-reflecting balloon catheter

Closing small defects in the body typically requires stitching of tissues during surgery. We engineered a balloon catheter with a reflective surface...

Pneumatic Networks for Soft Robotics

Soft robots actuated by inflation of a pneumatic network (a “pneu-net”) of small channels in elastomeric materials are appealing for producing sophisticated motions with simple controls...

Fabric-Reinforced Textile Actuators

We present the design, fabrication, and evaluation of fabric-reinforced textile actuators, which are capable of performing a variety and combination of motions...

Soft Fiber-reinforced Actuators

Soft fluidic actuators consisting of elastomeric matrices with embedded flexible materials are of particular interest to the robotics community because...

Wearable Gait Analysis for Overstriding

The wearable gait analysis system highlighted in this project is designed to monitor running gait without extensive equipment...

Force sensing for cardiac catheterization

The mechanical contact of the catheter tip with the cardiac walls is missing parameter that could quantify the quality of an ablation point and thus make the procedure more reliable...

MINIMALLY INVASIVE SURGERY GRASPERS

While MIS provides a number of benefits over traditional open surgeries—including reduced pain and recovery times—significant time is spent mobilizing organs and retracting them...