Project Focus

Our research in soft robotics focuses on novel solutions for upper and lower gastroenterology solutions. The outcomes from this research could positively effect procedure outcomes for both the patient and physician. Efforts have focused on pneumatic and hydraulic actuation solutions. This project is in collaboration with Dr. Christoph Keplinger (CU-Boulder Mechanical Engineering). Project funding and recent peer-reviewed papers are listed below.

SMA-Actuated Soft Biomimetic Robot for Colonoscopy, IEEE International Conference on Robotics and Automation, June, 2017. (Abstract, PDF)

Soft Robotics (2020): Miniaturized Circuitry for Capacitive Self-sensing and Closed-loop Control of Soft Electrostatic Transducers

Abstract: Soft robotics is a field of robotic system design characterized by materials and structures that exhibit large-scale deformation, high compliance, and rich multifunctionality. The incorporation of soft and deformable structures endows soft robotic systems with the compliance and resiliency that makes them well adapted for unstructured and dynamic environments...

IEEE International Conference on Soft Robotics (RoboSoft) (2020): Identification and Control of a Nonlinear Soft Actuator and Sensor System

Abstract: Soft robots are becoming increasingly prevalent, with unique applications to medical devices and wearable technology. Understanding the dynamics of nonlinear soft actuators is crucial to creating controllable soft robots. this letter presents a system identification process and closed-loop control of foldable HASEL (hydraulically amplified self-healing electrostatic) soft actuators. We...

IEEE Robotics and Automation Letters (2020): Identification and Control of a Nonlinear Soft Actuator and Sensor System

Abstract: Soft robots are becoming increasingly prevalent, with unique applications to medical devices and wearable technology. Understanding the dynamics of nonlinear soft actuators is crucial to creating controllable soft robots. this letter presents a system identification process and closed-loop control of foldable HASEL (hydraulically amplified self-healing electrostatic) soft actuators. We...

IEEE International Conference on Robotics and Automation (2017): Design, Modeling and Control of a SMA-Actuated Biomimetic Robot with Novel Functional Skin

Abstract: Traditional colonoscopy requires highly trained personnel to be performed. Additionally, current devices may cause discomfort and carry the risk of perforating the bowel wall. In this paper, a soft three modular section robot is designed, modeled, controlled and tested. Each of the robotic sections has three degrees of freedom,...