Project Focus

The goal of this research is to gain a fundamental understanding of the integrated actuation, embedded sensing, reactive control, and distributed control needs of a cyber-physical, synthetic, distributed sensing, soft and modular tissue (sTISSUE). Realizing this cyber-physical, physiological testbed will enable surgically relevant tasks, procedures, and devices to be much more refined ahead of animal testing, which can be dramatically reduced with such high-fidelity simulators. Furthermore, such simulators could open an entirely new approach to medical resident training that could not only improve surgical performance skills, but also establish a new paradigm in patient-specific surgical practice before the actual procedure. The proposed strategy will also harness the excitement surrounding autonomous systems, robotic control, and embedded sensing, and leverage it with the investigators' infrastructure for education innovation and outreach to provide new, inspirational educational experiences for students.

Identification and Control of a Nonlinear Soft Actuator and Sensor SystemIEEE Robotics and Automation Letters. (Abstract, PDF)

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 paper presents a system identification process and closed-loop control of foldable HASEL (hydraulically amplified self-healing electrostatic) soft actuators. We...