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This paper investigates the use of optically-diffuse, elastomeric substrates to measure complex deformations in soft devices. The proposed sensing method infers the modes and magnitudes of strains induced in an elastomer body by measuring changes in optical attenuation caused by the shifting, dispersion, or concentration of embedded, diffusive particles. Unlike many soft sensing methods, this does...
The intrinsic mechanical compliance that makes soft robotic systems ideal for safe, adaptive physical interactions in the presence of uncertainty also poses significant challenges in control. The highly-nonlinear deformations that soft robots undergo are difficult to model and predict, and are even harder to measure and modulate when the soft structures are exposed to complex mechanical loads. This...
Abnormal joint morphogenesis is linked to clinical conditions such as Developmental Dysplasia of the Hip (DDH) and to osteoarthritis (OA). Muscle activity is known to be important during the developmental process of joint morphogenesis. However, less is known about how this mechanical stimulus affects the behaviour of joint cells to generate altered morphology. Using zebrafish, in which we can image...
The ability to measure human hand motions and interaction forces is critical to improving our understanding of manual gesturing and grasp mechanics. This knowledge serves as a basis for developing better tools for human skill training and rehabilitation, exploring more effective methods of designing and controlling robotic hands, and creating more sophisticated human-computer interaction devices which...
The ability to track surgical needle deflection during procedures such as therapeutic drug delivery, biopsies, and medical device implantation allows clinicians to minimize positioning errors and procedural complications due to instrument deviations. We describe the use of a novel strain gauge printing method to sensorize surgical needles for the purpose of sensing needle shape and deflection during...
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