Research activities

Project #1)

Soft sensor-based multi joint motion measurement system

- Liquid metal-based soft sensor & wearable sensor glove fabrication

- Finger joint modeling based on the musculoskeletal structure

- Soft sensor decoupling algorithm development for three-dimensional finger motion measurement

- Skills: 3D printing, Injection molding, ADC circuit design, Oscilloscope, Signal processing, Bluetooth communication, Labview, Solidworks, Sewing machine

- Related publication
[1] S. Kim, J. Oh, D. Jeong, W. Park, and J. BAE*, “Consistent and Reproducible Direct Ink Writing of Eutectic Gallium-Indium for High Quality Soft Sensors,” Soft Robotics, Vol. 5, pp. 601-612, 2018.
[2] W. Park, K. Ro, S. Kim, and J. BAE*, “A Soft Sensor-Based Three-Dimensional (3-D) Finger Motion Measurement System,” Sensors, 17, no. 2: 420, 2017.

Project #2)

Hybrid PneuNet (pneumatic network) combining soft and rigid materials

- Analytical modeling and FEM simulation for hybrid PneuNet (pneumatic network)

- hybrid gripper based on the hybrid PneuNet for teleoperation

- hybrid PneuNet-based wearable hand system

- Skills: Microfluidic control, FEM analysis (ANSYS), Injection molding, Labview, Solidworks

- Related publication
[1] W. Park, S. Seo, and J. BAE*, “A Hybrid Gripper with Soft Material and Rigid Structures,” IEEE Robotics and Automation Letters (RA-L), Vol. 4(1), pp. 65-72, 2019.

video_A Sensorized Hybrid Gripper to Evaluate the Grasping Quality2.mp4

Project #3)
Sensor-embedded soft gripper for evaluating the grasping quality

- Liquid metal-based soft senor integration for the soft gripper

- Analytical model based force closure-based grasping quality evaluation

- Real-time application for evaluating the grasping quality for robotic manipulation

- Skills: Microfluidic control, ADC circuit design, Signal processing, Labview, Solidworks

- Related publication
[1] W. Park, S. Seo, J. Oh, and J. BAE*, “A Sensorized Hybrid Gripper to Evaluate a Grasping Quality based on a Largest Minimum Wrench,” IEEE Robotics and Automation Letters (RA-L), Vol. 5(2), pp. 3243-3250, 2020.

Project #4)
Origami-structured actuating module for wearable system

- Layered manufacturing (fabrics, adhesives, acrylic plates, etc.) for the origami-structure actuating module

- Analytical modeling (force and range of motion) for the origami-structured actuating module

- Design optimization for the origami structured actuating module

- Wearable system based on the origami-structured actuating module for upper limb motion assistance

- Skills: Microfluidic control, 3D printing, Design optimization, MATLAB, Labview, Solidworks

- Related publication
[1] S. Seo, W. Park (equal contribution), D. Lee, and J. BAE*, “Origami-structured Actuating Modules for Upper Limb Support,” IEEE Robotics and Automation Letters (RA-L), Vol. 6(3), pp. 5239-5246, 2021.

supp1-3072810.wmv

Project #5)
Variable stiffness compliant structure based on the hybrid jamming structure combining granular and chain structure

- Analytical modeling of vacuum-based jamming structure combining granules and chain structure

- Multi-link hybrid jamming structure for wearable system to passively support upper limb

- Multi-link hybrid jamming structure for the soft robotic arm

- Skills: Microfluidic control, Labview, Solidworks

- Related publication

[1] W. Park, D. Lee, and J. BAE*, “A Hybrid Jamming Structure Combining Granules and a Chain Structure for Robotic Applications,” Soft Robotics, in press, 2021.

supp_videos5.wmv

supp_videos2.wmv

supp_videos3.wmv

supp_videos4.wmv

supp_videos1.wmv

(On-going) Project #6)
Stiffness tunable soft manipulator based on the origami-structured actuators and hybrid jamming structures

- Development of the stiffness tunable joint module, and highly extensible linkage parts for the soft manipulator

- Control strategies for the model-based soft manipulator

- Fluidic control equipment for controlling the soft manipulator

- Demonstration for the collaborative work during pick-and-place task

- Skills: Microfluidic control, Labview, Solidworks

- Related publication
[1] D. Kim, S-H. Kim, T. Kim, B. B. Kang, M. Lee, W. Park, S.Ku, D. Kim, J. Kwon, J. BAE, Y-L. Park, K-J. Cho, and S. Jo*, “Review of machine learning methods in soft robotics,” PLoS ONE, 16(2): e0246102, 2021.

soft manipulator quick demo.wmv

(On-going) Project #7)
Multi joint hybrid gripper with adhesion-controllable fingertip structure based on microstructure

- Integration with the 5-dof robotic arm and the multi joint gripper with adhesion-controllable fingertip structure

- Fluidic control of the multi joint hybrid gripper with adhesion-controllable fingertip structure

- Related research was introduced in YTN Science, South Korea

- Skills: Microfluidic control, Labview, Solidworks