Publications
2024
Theses
Memento Mori: Reliable robustness in self-reconfigurable modular robots
Lausanne, EPFL, 2024.2023
Journal Articles
Multi-modal deformation and temperature sensing for context-sensitive machines
Nature Communications. 2023-11-18. Vol. 14, num. 1, p. 7499. DOI : 10.1038/s41467-023-42655-y.Earwig-inspired foldable origami wing for micro air vehicle gliding
Frontiers In Robotics And Ai. 2023-11-09. Vol. 10, p. 1255666. DOI : 10.3389/frobt.2023.1255666.Hypogravity modeling of upper extremities: an investigation of manual handling in the workplace
Frontiers In Physiology. 2023-10-02. Vol. 14, p. 1198162. DOI : 10.3389/fphys.2023.1198162.Morphological flexibility in robotic systems through physical polygon meshing
Nature Machine Intelligence. 2023-06-12. DOI : 10.1038/s42256-023-00676-8.Sensorless force and displacement estimation in soft actuators
Soft Matter. 2023-03-21. DOI : 10.1039/d2sm01197b.Hand and face somatotopy shown using MRI-safe vibrotactile stimulation with a novel soft pneumatic actuator (SPA)-skin interface
Neuroimage. 2023-02-11. Vol. 269, p. 119932. DOI : 10.1016/j.neuroimage.2023.119932.Conference Papers
Dynamic Modeling of an Origami Prismatic Joint
2023-01-01. IEEE International Conference on Soft Robotics (RoboSoft), Singapore, SINGAPORE, Apr 03-07, 2023. DOI : 10.1109/ROBOSOFT55895.2023.10122040.Theses
Human Interactive Robotic Surfaces for Physical Immersion
Lausanne, EPFL, 2023.2022
Journal Articles
Electromagnetic actuator design for distributed stiffness
Smart Materials And Structures. 2022-11-01. Vol. 31, num. 11, p. 115023. DOI : 10.1088/1361-665X/ac97d4.Flexure Variable Stiffness Actuators
Advanced Intelligent Systems. 2022-06-22. p. 2100282. DOI : 10.1002/aisy.202100282.Lattice-and-Plate Model: Mechanics Modeling of Physical Origami Robots
Soft Robotics. 2022-06-17. DOI : 10.1089/soro.2021.0172.3PAC: A Plug-and-Play System for Distributed Power Sharing and Communication in Modular Robots
Ieee-Asme Transactions On Mechatronics. 2022-04-01. Vol. 27, num. 2, p. 858-867. DOI : 10.1109/TMECH.2021.3073538.Hybrid Wireless-Local Communication via Information Propagation for Modular Robotic Synchronization Applications
Advanced Intelligent Systems. 2022-03-19. p. 2100226. DOI : 10.1002/aisy.202100226.Kirigami Design and Modeling for Strong, Lightweight Metamaterials
Advanced Functional Materials. 2022-02-21. p. 2107401. DOI : 10.1002/adfm.202107401.Haptigami: a fingertip haptic interface with vibrotactile and 3-DoF cutaneous force feedback
IEEE Transactions on Haptics. 2022. Vol. 15, num. 1, p. 131-141. DOI : 10.1109/TOH.2021.3104216.3D Printed Motor-Sensory Module Prototype for Facial Rehabilitation
Soft Robotics. 2022. Vol. 9, num. 2, p. 354-363. DOI : 10.1089/soro.2020.0010.Theses
Active origami platforms for human-robot interactions
Lausanne, EPFL, 2022.2021
Journal Articles
Closed-Loop Position Control of a Self-Sensing 3-DoF Origami Module With Pneumatic Actuators
Ieee Robotics And Automation Letters. 2021-10-01. Vol. 6, num. 4, p. 8213-8220. DOI : 10.1109/LRA.2021.3102952.Flow Path Optimization for Soft Pneumatic Actuators: Towards Optimal Performance and Portability
Ieee Robotics And Automation Letters. 2021-10-01. Vol. 6, num. 4, p. 7949-7956. DOI : 10.1109/LRA.2021.3100626.CMOS-Inspired Complementary Fluidic Circuits for Soft Robots
Advanced Science. 2021-08-29. p. 2100924. DOI : 10.1002/advs.202100924.A 4D printed active compliant hinge for potential space applications using shape memory alloys and polymers
Smart Materials And Structures. 2021-08-01. Vol. 30, num. 8, p. 085004. DOI : 10.1088/1361-665X/ac01fa.Compact Pneumatic Clutch With Integrated Stiffness Variation and Position Feedback
Ieee Robotics And Automation Letters. 2021-07-01. Vol. 6, num. 3, p. 5697-5704. DOI : 10.1109/LRA.2021.3083236.Generalized modeling of origami folding joints
Extreme Mechanics Letters. 2021-05-01. Vol. 45, p. 101213. DOI : 10.1016/j.eml.2021.101213.Soft Bionic Sensors and Actuators
Advanced Intelligent Systems. 2021-03-01. Vol. 3, num. 3, p. 2100003. DOI : 10.1002/aisy.202100003.Soft Touch using Soft Pneumatic Actuator-Skin as a Wearable Haptic Feedback Device
Advanced Intelligent Systems. 2021-03-01. Vol. 3, num. 3, p. 2000168. DOI : 10.1002/aisy.202000168.Theoretical characterization of a non-rigid-foldable square-twist origami for property programmability
International Journal Of Mechanical Sciences. 2021-01-01. Vol. 189, p. 105981. DOI : 10.1016/j.ijmecsci.2020.105981.A hybrid control strategy for force and precise end effector positioning of a twisted string actuator
IEEE/ASME Transactions on Mechatronics. 2021. Vol. 26, num. 5, p. 2791-2802. DOI : 10.1109/TMECH.2020.3047157.Pneumatic supply system parameter optimization for soft actuators
Soft Robotics. 2021. Vol. 8, num. 2, p. 152-163. DOI : 10.1089/soro.2019.0134.Soft pneumatic actuator-driven origami-inspired modular robotic ‘‘pneumagami’’
The International Journal of Robotics Research. 2021. Vol. 40, num. 1, p. 72-85. DOI : 10.1177/0278364920909905.Conference Papers
Variable Stiffness Folding Joints for Haptic Feedback
2021-01-01. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), ELECTR NETWORK, Sep 27-Oct 01, 2021. p. 8332-8338. DOI : 10.1109/IROS51168.2021.9636656.Theses
Development and control of interactive reconfigurable robotic systems
Lausanne, EPFL, 2021.Design and dynamic analysis of soft pneumatic systems for wearable robots
Lausanne, EPFL, 2021.Comprehensive Interactive Soft Interfaces for Wearable Tactile Feedback
Lausanne, EPFL, 2021.2020
Journal Articles
High-order based revelation of bifurcation of novel Schatz-inspired metamorphic mechanisms using screw theory
Mechanism And Machine Theory. 2020-10-01. Vol. 152, p. 103931. DOI : 10.1016/j.mechmachtheory.2020.103931.Rigid foldability and mountain-valley crease assignments of square-twist origami pattern
Mechanism And Machine Theory. 2020-10-01. Vol. 152, p. 103947. DOI : 10.1016/j.mechmachtheory.2020.103947.Asperuloside Improves Obesity and Type 2 Diabetes through Modulation of Gut Microbiota and Metabolic Signaling
Iscience. 2020-09-25. Vol. 23, num. 9, p. 101522. DOI : 10.1016/j.isci.2020.101522.Towards rich motion skills with the lightweight quadruped robot Serval
Adaptive Behavior. 2020-06-01. Vol. 28, num. 3, p. 129-150. DOI : 10.1177/1059712319853227.Helical structures with switchable and hierarchical chirality
Applied Physics Letters. 2020-05-11. Vol. 116, num. 19, p. 194102. DOI : 10.1063/5.0005336.Stretchable Kirigami Components for Composite Meso-Scale Robots
Ieee Robotics And Automation Letters. 2020-04-01. Vol. 5, num. 2, p. 1883-1890. DOI : 10.1109/LRA.2020.2969924.Hinges for origami-inspired structures by multimaterial additive manufacturing
Materials & Design. 2020-03-13. Vol. 191, p. 108643. DOI : 10.1016/j.matdes.2020.108643.Age-Dependent Asymmetry of Wrist Position Sense Is Not Influenced by Stochastic Tactile Stimulation
Frontiers In Human Neuroscience. 2020-03-03. Vol. 14, p. 65. DOI : 10.3389/fnhum.2020.00065.Multimodal pipe-climbing robot with origami clutches and soft modular legs
Bioinspiration & Biomimetics. 2020-03-01. Vol. 15, num. 2, p. 026002. DOI : 10.1088/1748-3190/ab5928.A bioinspired Separated Flow wing provides turbulence resilience and aerodynamic efficiency for miniature drones
Science Robotics. 2020-01-29. Vol. 5, num. 38, p. eaay8533. DOI : 10.1126/scirobotics.aay8533.A sEMG-driven Soft ExoSuit based on Twisted String Actuators for Elbow Assistive Applications
IEEE Robotics and Automation Letters. 2020. Vol. 5, num. 3, p. 4094-4101. DOI : 10.1109/LRA.2020.2988152.Closed-Loop Haptic Feedback Control Using a Self-Sensing Soft Pneumatic Actuator Skin
Soft Robotics. 2020. Vol. 7, num. 1, p. 22-29. DOI : 10.1089/soro.2019.0013.Conference Papers
An Actuation Fault Tolerance Approach to Reconfiguration Planning of Modular Self-folding Robots
2020-01-01. IEEE International Conference on Robotics and Automation (ICRA), ELECTR NETWORK, May 31-Jun 15, 2020. p. 8274-8280. DOI : 10.1109/ICRA40945.2020.9196574.Theses
From Modular Origami Robots to Polygon-based Modular Systems: a New Paradigm in Reconfigurable Robotics
Lausanne, EPFL, 2020.2019
Journal Articles
A portable three-degrees-of-freedom force feedback origami robot for human-robot interactions
Nature Machine Intelligence. 2019-12-01. Vol. 1, num. 12, p. 584-593. DOI : 10.1038/s42256-019-0125-1.A plane linkage and its tessellation for deployable structure
Mechanism And Machine Theory. 2019-12-01. Vol. 142, p. 103605. DOI : 10.1016/j.mechmachtheory.2019.103605.Two-degrees-of-freedom (PID)-D-2 controller for precise nanopositioning in the presence of hardware-induced constant time delay
Isa Transactions. 2019-08-01. Vol. 91, p. 207-217. DOI : 10.1016/j.isatra.2019.01.028.Multi-DoF Force Characterization of Soft Actuators
IEEE Robotics and Automation Letters. 2019-07-10. Vol. 4, num. 4, p. 3679-3686. DOI : 10.1109/LRA.2019.2927936.Designing Minimal and Scalable Insect-Inspired Multi-Locomotion Millirobots
Nature. 2019-07-10. Vol. 571, p. 381–386. DOI : 10.1038/s41586-019-1388-8.Mechanics of a pressure-controlled adhesive membrane for soft robotic gripping on curved surfaces
Extreme Mechanics Letters. 2019-05-23. Vol. 30, p. 100485. DOI : 10.1016/j.eml.2019.100485.RoboScallop: A Bivalve Inspired Swimming Robot
Ieee Robotics And Automation Letters. 2019-04-01. Vol. 4, num. 2, p. 2078-2085. DOI : 10.1109/LRA.2019.2897144.
The Foldable Drone: A Morphing Quadrotor That Can Squeeze and Fly
Ieee Robotics And Automation Letters. 2019-04-01. Vol. 4, num. 2, p. 209-216. DOI : 10.1109/LRA.2018.2885575.Folded-Tube Soft Pneumatic Actuators for Bending
Soft Robotics. 2019-03-26. Vol. 6, num. 2, p. 174-183. DOI : 10.1089/soro.2018.0075.Single chamber multiple degree-of-freedom soft pneumatic actuator enabled by adjustable stiffness layers
Smart Materials And Structures. 2019-03-01. Vol. 28, num. 3, p. 035012. DOI : 10.1088/1361-665X/aaf9c0.Guest Editorial Focused Section on Soft Actuators, Sensors, and Components (SASC)
Ieee-Asme Transactions On Mechatronics. 2019-02-01. Vol. 24, num. 1, p. 1-4. DOI : 10.1109/TMECH.2019.2894821.Modular Reconfigurable Robotics
Annual Review Of Control, Robotics, And Autonomous Systems. 2019-01-01. Vol. 2, p. 63-88. DOI : 10.1146/annurev-control-053018-023834.Automatic Couplings with Mechanical Overload Protection for Modular Robots
IEEE/ASME Transactions on Mechatronics. 2019. Vol. 24, num. 3, p. 1420-1426. DOI : 10.1109/TMECH.2019.2907802.Conference Papers
Programmable Fluidic Networks Design for Robotic Origami Sequential Self-Folding
2019-05-27. IEEE International Conference on Soft Robotics (RoboSoft), Seol, South Korea, 14-18 April 2019. p. 814-820. DOI : 10.1109/ROBOSOFT.2019.8722798.Stiffness Perception of Virtual Objects Using FOLDAWAY-Touch
2019-05-14. Digital Image Forensics, Songdo, Korea (Republic of), November 14-16, 2018. p. 139-143. DOI : 10.1007/978-981-13-3194-7_31.FOLDAWAY DroneSense, a controller for haptic information encoding for drone pilots
2019-05-05. 1st International Workshop on Human-Drone Interaction, Glasgow, May 5, 2019.Design of Low-Profile Compliant Transmission Mechanisms
2019. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, Novembre 3-8, 2019. p. 2700-2707. DOI : 10.1109/IROS40897.2019.8967701.Bi-Modal Control of Vacuum-Powered Soft Pneumatic Actuators with Embedded Liquid Metal-Based Strain Sensitive Skin
2019. Robosoft 2019, Seoul, South Korea, April 14-18, 2019. p. 217-221. DOI : 10.1109/ROBOSOFT.2019.8722810.Theses
Design Methodology for Engineering Multifunctional Mesoscale Robots
Lausanne, EPFL, 2019.Modular soft pneumatic actuator system design for compliance matching
Lausanne, EPFL, 2019.Posters
Force Characterization Of Meso-Scale Haptic Devices
IEEE/RSJ International Conference on Intelligent Robots and Systems – IROS 2019, Macau, China, November 4 – 8, 2019.Talks
Hinges for Origami-Inspired Structures by Multi-Material Additive Manufacturing
2019 MRS Spring Meeting & Exhibit, Phoenix, Arizona, April 26-29, 2019.2018
Journal Articles
A reconfiguration strategy for modular robots using origami folding
The International Journal of Robotics Research. 2018-12-05. p. 027836491881575. DOI : 10.1177/0278364918815757.A New Kinematic Model and Control Strategy for a Mobile Platform for Transporting Lightweight Manipulators
Electronics. 2018-12-01. Vol. 7, num. 12, p. 441. DOI : 10.3390/electronics7120441.Optimal Distribution of Active Modules in Modular Robots
Journal of Mechanisms and Robotics. 2018-11-05. Vol. 11, num. 1, p. 011017. DOI : 10.1115/1.4041972.An Origami-Inspired Reconfigurable Suction Gripper for Picking Objects with Variable Shape and Size
IEEE Robotics and Automation Letters. 2018-07-01. Vol. 3, num. 4, p. 2894-2901. DOI : 10.1109/LRA.2018.2847403.A reconfigurable interactive interface for controlling robotic origami in virtual environments
The International Journal of Robotics Research. 2018-05-02. Vol. 37, num. 6, p. 629-647. DOI : 10.1177/0278364918769157.Minimally Actuated Transformation of Origami Machines
IEEE Robotics and Automation Letters. 2018-01-31. Vol. 3, num. 3, p. 1426-1433. DOI : 10.1109/LRA.2018.2800126.Miniaturized Twin-legged Robot with an Electromagnetic Oscillatory Actuator
Journal of Bionic Engineering. 2018-01-20. Vol. 15, num. 1, p. 106-113. DOI : 10.1007/s42235-017-0008-2.Design and Computational Modeling of a Modular, Compliant Robotic Assembly for Human Lumbar Unit and Spinal Cord Assistance (vol 7, 14391, 2017)
Scientific Reports. 2018. Vol. 8, p. 13218. DOI : 10.1038/s41598-018-31446-x.A Compact Modular Soft Surface With Reconfigurable Shape and Stiffness
IEEE/ASME Transactions on Mechatronics. 2018. Vol. 24, num. 1, p. 16-24. DOI : 10.1109/TMECH.2018.2878621.Design Methodology for Constructing Multimaterial Origami Robots and Machines
IEEE Transactions on Robotics. 2018. Vol. 34, num. 1, p. 151-165. DOI : 10.1109/TRO.2017.2775655.Conference Papers
Strain Sensor-Embedded Soft Pneumatic Actuators for Extension and Bending Feedback
2018-04-28. IEEE RAS International Conference on Soft Robotics (RoboSoft), Livorno, Italy, April 24-28, 2018. p. 202-207. DOI : 10.1109/ROBOSOFT.2018.8404920.An Any-Resolution Distributed Pressure Localization Scheme Using a Capacitive Soft Sensor Skin
2018-04-28. IEEE RAS International Conference on Soft Robotics (RoboSoft), Palazzo Pancaldi, Livorno, Italy, April 24-28, 2018. p. 170-175. DOI : 10.1109/ROBOSOFT.2018.8404915.Towards Peak Torque Minimization for Modular Self-folding Robots
2018-01-01. 25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, SPAIN, Oct 01-05, 2018. p. 7975-7982. DOI : 10.1109/IROS.2018.8593648.Modeling Vacuum Bellows Soft Pneumatic Actuators with Optimal Mechanical Performance
2018. Soft Robotics (RoboSoft 2018), 2018 IEEE-RAS International Conference on, Livorno, Italy, April 24-28, 2018. p. 534-540. DOI : 10.1109/ROBOSOFT.2018.8405381.Low-inertia vacuum-powered soft pneumatic actuator coil characterization and design methodology
2018. RoboSoft, Livorno, Italy, April 24-28, 2018. DOI : 10.1109/ROBOSOFT.2018.8405364.Reviews
Soft robot design methodology for ‘push-button’ manufacturing
Nature Reviews Materials. 2018-05-04. Vol. 3, p. 81–83. DOI : 10.1038/s41578-018-0014-y.Posters
Parametric study of Pneumatic Circuit Model for Powering and Controlling Soft Pneumatic Actuators
IEEE International Conference on Soft Robotics (RoboSoft), Livorno, Italy, Apr 24 – 28, 2018.Patents
A planar pop-up actuator device with embedded electro-magnetic actuation
US11728081; US2021287836; EP3494630; WO2018025241; WO2018025241; US2018038461.
2018.Planar pop-up actuator device with embedded electro-magnetic actuation
US11728081; US2021287836; EP3494630; WO2018025241; WO2018025241; US2018038461.
2018.A soft portable wearable pneumatic interactive suit
US11458067; EP3631395; EP3631395; US2020093679; KR20200019636; WO2018220596; WO2018220596.
2018.