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 ).
RAMlabber Wyatt Felt traveled to Daejeon, South Korea to present work he completed with Michelle Suen and C. David Remy. Their paper examines how to apply inductive-sensing technology to soft, bellows actuators.
(10/26/2015) New Article in IEEE Transactions on Mechatronics
RAMlab PhD Student Wyatt Felt published an article in the IEEE/ASME Transactions on Mechtronics, titled "Contraction Sensing with Smart Braid McKibben Muscles." more...
(10/6/2015) Smart Braid team wins Soft Robotics Toolkit prize!
Wyatt Felt, Khai Yi Chin, Kevin Green, and Prof. C. David Remy from the Robotics and Motion Laboratory received a $5000 award for their work on Smart Braids from the Soft Robotics Toolkit. more...
Felt, W., Chin, K.Y., and Remy, C.D., 2015, "Contraction Sensing with Smart Braid McKibben Muscles", IEEE/ASME Transactions on Mechatronics, PP(99):1 [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 [preprint]
Felt, W., Suen, M., and Remy, C.D., 2016, "Sensing the Motion of Bellows through Changes in Mutual Inductance", IEEE/RSJ 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 (FPIRC15) [preprint]
Felt, Wyatt and Remy, C.D., 2014, " Smart Braid: Air Muscles that Measure Force and Displacement", IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, Chicago, IL [preprint] [URL]
Felt, W. and Remy, C.D., 2016, "Variable Inductance Structures for Self-Sensing Soft Actuation in Wearable Robotic Devices", Joint Workshop on Wearable Robotics and Assistive Devices, IROS 2016
Felt, W. and Remy, C.D., 2014, "How to Create Self-Sensing Air Muscles from Conductive Fibers", Robotics: Science and Systems Conference, Workshop on Advances on Soft Robotics [preprint]
Felt, Wyatt and Remy, C.D., 2014, "How to Create Self-Sensing Air Muscles from Conductive Fibers", “Advances on Soft Robotics” at RSS