Vision
Creating Safe, Adaptive, and Interactive (S.A.Int) Robots that seamlessly coexist
with people in real-world environments to provide practical human-supportive applications,
improving quality of life
Mission
Developing soft–rigid hybrid robotic technologies through
the integrated co-design of materials, structures, sensing, actuation, and learning
to advance robotic capabilities and physical intelligence.
Research Areas
1. Multifunctional soft–rigid hybrid structures for robotic sensing and actuation
2. Advanced fabrication and integration of robotic materials, components, and systems
3. Embodied learning for robotic multifunctionality, physical intelligence, and real-world applications
A Multi-Functional Soft Sensor for Human-Robot Interfaces
Design of a compact sensing structure including heterogeneous sensing mechanisms capable of detecting single-mode (stretching, bending, compression) and multi-mode (combination of single-modes) deformations.
Use of machine learning techniques to classify deformation modes
For more details, click this link: Heterogeneous Sensing in a Multifunctional Soft Sensor for Human-Robot Interfaces
A Soft Load Cell for Three-Axis Force Sensing
Design of sensing structures capable of simultaneously detecting normal and shear forces mechanically decoupled
For more details, click this link: A Soft 3-Axis Load Cell using Liquid-Filled 3D Microchannels in a Highly Deformable Elastomer
Use of Deep Learning for Soft Sensor Characterization
Design of sensing structures to provide significant features for characterization with machine learning
Use of a customized recurrent neural network to estimate the magnitude and location of external contacts simultaneously.
For more details, click this link: Use of Deep Learning for Characterization of Microfluidic Soft Sensors
A Biomimetic Soft Sensor with Printed Ionogel Channels for Airflow Detection
Design of an artificial hair structure inspired by whiskers to dectect wind
Use of a direct functional ink writing method to fabricate ionogel (ionic liquid + fumed silica) channels
For more details, click these links:
Soft Inflatable Sensing Modules for Safe Human-Robot Interaction
Design of a hyper-elastic inflatable structure
Implementation of embedded tactile sensing capability using microfluidic sensing channels filled with a liquid conductor
For more details, click this link: Soft Inflatable Sensing Modules for Safe and Interactive Robots
Lightweight Inflatable Sensing Sleeves for Increased Adaptability of Legged Robots
Design of a lightweight inflatable sensing sleeve composed of thermoplastic sheets
Implementation of embedded tactile sensing capability using fabric-based touch-sensing pads
For more details, click these links:
A Flexible, Architected Soft Robotic Actuator for Motorized Extensional Motion
Design of a soft extensional actuator using a handed shearing auxetic structure and a soft bellows shaft
Implementation of a crawling robot and a sensorized artificial muscle
For more details, click this link: A Flexible, Architected Soft Robotic Actuator for Motorized Extensional Motion
An Architected Soft Linear Actuator for Artificial Musculoskeletal Systems
Design of an architected soft linear actuator using a handed shearing auxetic structure and an origami bellows structure
Implementation of an artificial robotic leg
For more details, click this link: Architected Soft Actuators for Artificial Musculoskeletal Systems
Clutchable Soft Actuators for Rapid, High-Power Movements in Robotic Artificial Musculoskeletal Systems
Design of a clutchable soft actuator with a mechanical clutching mechanism
Implementation of an artificial musculoskeletal robotic leg
For more details, click this link: Clutchable Soft Actuators Produce Rapid, High-Power Movements in Robotic Artificial Musculoskeletal Systems
Architected Elastomers as Load Bearing Actuators for Untethered Soft Robot Walking
Design of architected elastomer robotic legs with different stiffnesses
Implementation of a soft legged walking robot
For more details, click this link: Architected Elastomers as Load Bearing Actuators for Untethered Soft Robot Walking