Soft robotics explores the use of conformable structures in robot design. These structures permit lightweight robots that are rugged enough to withstand abuse from the environment but gentle enough to work alongside humans. We have pioneered the use of conductive fibers to create self-sensing circuits for soft robotic actuators. The self-inductance of these circuits allows the motion of the actuator to be measured without bulky external encoders. The application of this technology to McKibben muscles was recently awarded the 2015 Soft Robotics Toolkit prize for contributions in soft robotics research (learn more at the Soft Robotics Toolkit ).
(11/2/2017) New brief in the ASME Journal of Mechanisms and Robotics
Learn about modeling cylindrical FREEs in a new technical brief in the ASME Journal of Mechanisms and Robotics (JMR), "A Closed-Form Kinematic Model for Fiber Reinforced Elastomeric Enclosures." more...
(9/25/2017) New paper in Soft Robotics
Wyatt Felt, Khai Yi Chin, and C. David Remy recently published a paper, "Smart Braid Feedback for the Closed-Loop Control of Soft Robotic Systems," in the Journal "Soft Robotics." more...
(7/14/2017) Wyatt Felt finalist for Best Systems Paper at RSS 2017
A RAMlab and Pneubotics paper, led by author Wyatt Felt, was a finalist for the Best Systems Paper in Memory of Seth Teller at Robotics: Science and Systems, 2017. "An Inductance-Based Sensing System for Bellows-Driven Continuum Joints in Soft Robots" more...
Felt, W. and Remy, C.D., 2018, "A closed-form kinematic model for Fiber Reinforced Elastomeric Enclosures", Journal of Mechanisms and Robotics, 10(1):- [URL]
Felt, W., Lu, S., Remy, C.D., 2018, "Modeling and design of “Smart Braid” inductance sensors for fiber-reinforced elastomeric enclosures", IEEE Sensors Journal, In press(-):- [URL]
Felt, W., Chin, K.Y., and Remy, C.D., 2017, "Smart Braid feedback for the closed-loop control of soft robotic systems", Soft Robotics, 4(3):261-273 [URL]
Felt, W., Chin, K.Y., and Remy, C.D., 2015, "Contraction sensing with Smart Braid McKibben muscles", IEEE/ASME Transactions on Mechatronics, 21(3):1201-2019 [URL]
Felt, W.,Telleria, M.J., Allen, T., Hein, G., Pompa, J., Albert, K., Remy, C.D., 2017, "An inductance-based sensing system for bellows-driven continuum joints in soft robots", Robotics: Science and Systems (RSS), Cambridge, MA [URL]
Felt, W., Chin, K.Y., and Remy, C.D., 2016, "Self-sensing pneumatic artificial muscles for feedback control using the inductance of "Smart Braids"", Dynamic Walking, Holly, MI [preprint]
Felt, W., Suen, M., and Remy, C.D., 2016, "Sensing the motion of bellows through changes in mutual inductance", International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea [URL]
Felt, W., Chin, K.Y., and Remy, C.D., 2015, "Dynamic tracking of joint motion with antagonized smart braids", Fluid Power Innovation & Research Conference (FPIRC) [preprint]
Felt, Wyatt and Remy, C.D., 2014, "Smart Braid: Air muscles that measure force and displacement", International Conference on Intelligent Robots and Systems (IROS), Chicago, IL [preprint] [URL]
Felt, W. and Remy, C.D., 2017, "Soft actuators with integrated inductance sensing for material robotics", Robotics: Science and Systems (RSS), Material Robotics (MaRo) Workshop [preprint]
Felt, W. and Remy, C.D., 2016, "Variable inductance structures for self-sensing soft actuation in wearable robotic devices", IROS Joint Workshop on 'Wearable Robotics and Assistive Devices'
Felt, W. and Remy, C.D., 2014, "How to create self-sensing air muscles from conductive fibers", Robotics: Science and Systems Conference (RSS), Workshop on 'Advances on Soft Robotics' [preprint]