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Self-folding provides an efficient way of creating complex 3D geometries from 2D composites. However, the precision of self-folding structures is often limited by the use of open-loop folding mechanisms. In this paper we demonstrate feedback-controlled self-folding using a shape memory polymer and optical sensors to accurately control folding angles. We present a method of quickly and inexpensively...
The innovation in surgical robotics has seen a shift toward flexible systems that can access remote locations inside the body. However, a general reliance on the conventional fabrication techniques ultimately limits the complexity and the sophistication of the distal implementations of such systems, and poses a barrier to further innovation and widespread adoption. In this paper, we present a novel,...
This paper discusses recent developments in sensors for the Harvard RoboBee. The RoboBee is a sub-100 mg flapping-wing micro-aerial vehicle that is able to lift its own weight under external power, but, like flying insects, is unstable in flight without active feedback. We discuss design and characterization of two low-latency insect-inspired sensors for flight control: an antenna to sense airspeed...
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