Feelix: A Haptic Design Tool for Rigid and Soft Actuation Systems with Machine Learning Support Reconfigurable Robotics Lab - EPFL 2023-07-12 | by Anke van Oosterhout, Serhat Demirtaş, Jamie Paik, and Miguel BrunsReconfigurable Robotics LabÉcole Polytechnique Fédérale de Lausanne (EPFL)http://rrl.epfl.chIndustrial DesignEindhoven University of Technology (TU/e)Feelix: A Haptic Design Tool for Rigid and Soft Actuation Systems with Machine Learning SupportAbstract — This paper showcases the latest advancements of Feelix, a haptic design tool for rigid and soft actuation systems with multiple degrees of freedom. The new features of Feelix introduce support for designing feedback for pneumatic actuation systems, in addition to the existing support for brushless motor control. With its intuitive graphical editor, users can quickly design effects that can be immediately experienced on the hardware device, enabling fast exploration to support the design process. The sensors embedded in the hardware device provide real-time feedback to the design tool, which can be utilized to train machine learning models through Feelix's new pattern recognition feature. Our presentation will demonstrate Feelix's capabilities for rigid and soft actuation devices with multiple degrees of freedom to showcase the tool's versatile applications in designing haptic experiences.We would like to thank Zhenishbek Zhakypov for his contribution to the design of the soft robotic haptic interface that has been employed to implement the pneumatic design feature in Feelix.This work has been demonstrated at the IEEE World Haptics 2023 conference in Delft, Netherlands.#WorldHaptics2023
Mori3: a polygon-based modular robot Reconfigurable Robotics Lab - EPFL 2023-06-19 | This is a summary video of our new robot Mori3 that was just published in Nature Machine Intelligence. It’s the first example of physical polygon meshing, which makes the robotic system both functionally and morphologically flexible. The video showcases all the experiments we carried out for the paper including shape-change, automatic coupling, object manipulation, three types of locomotion, and user interaction. For all the footage with descriptions please watch: youtu.be/CD5Cj7RhxY0You can read the full paper here: rdcu.be/deluA, or visit the journal website here: http://dx.doi.org/10.1038/s42256-023-00676-8.Christoph Belke, Kevin Holdcroft, Alexander Sigrist, Jamie Paik, Morphological flexibility in robotic systems through physical polygon meshing, Nature Machine Intelligence (2023).#EPFL #RRL #NatureMachineIntelligence #robot #modular #polygonmeshing #reconfigurable #origami #technology #research#space
Mori3: A polygon-based modular robot (all footage and descriptions) Reconfigurable Robotics Lab - EPFL 2023-06-12 | by Christoph Belke, Kevin Holdcroft, Alexander Sigrist, and Jamie Paik.The Mori3 is a modular robot built by the Reconfigurable Robotics Lab at EPFL.The Mori3 can change its own shape and function through changing the way modules interconnect.Each module is their own robot; they have their own power, motors, sensors. By themselves, they can drive around on the ground and change the length of each of their triangular edges. However, working together, they function as a complete system capable of achieving many different types of tasks. The Mori3 is geared towards difficult to reach environments where the task isn't always known ahead of time, such as space. For more please see the article linked below:Morphological flexibility in robotic systems through physical polygon meshing.doi: 10.1038/s42256-023-00676-8Abstract - Shape-changing robots adapt their own morphology to address a wider range of functions or environments than is possible with a fixed or rigid structure. Akin to biological organisms, the ability to significantly alter shape or configuration emerges from the underlying mechanical structure, materials, or control methods. Soft robots, for instance, employ malleable materials to adapt to their environment, modular robots assemble multiple units into various three-dimensional (3D) configurations, and insect-like swarm robots interact in large numbers to fulfil tasks. However, the promise of broad functional versatility in shape-changing robots has so far been constrained by the practical implications of either increasing the degree of morphological flexibility or addressing specific applications. Here we report a method for creating robotic systems that realises both sides of this trade-off through the introduction of physical polygon meshing. By abstracting functional 3D structures, collections of shape-changing robotic modules can recreate diverse 3D shapes and dynamically control the resulting morphology. We demonstrate this approach by developing a system of polygon robots that change their own shape, attach to each other, communicate, and reconfigure to form functional and articulated structures. Applying the system to three distinct application areas of robotics involving user-interaction, locomotion, and manipulation, our work demonstrates how physical polygon meshing provides a new framework for more versatile intelligent machines.
Mori3 - Robotic arm Reconfigurable Robotics Lab - EPFL 2023-06-12 | The Mori3 is a robot capable of changing its own shape to adapt to new environments and unseen tasks. The Mori3 consists of autonomous pieces which can connect together to form large, complex, and moving systems.This video shows five modules connected together which uncurls and manipulates a hockey puck.At first, the arm passes over the hockey puck. Each module can change its own edge size. The module at the back extends its top edge, allowing the arm to touch the hockey puck. This edge extension increases the workspace, particularly when the arm is fully extended.
Mori3 - Module overview and shape change Reconfigurable Robotics Lab - EPFL 2023-06-12 | The Mori3 is a robot capable of changing its own shape to adapt to new environments and unseen tasks. The Mori3 consists of autonomous pieces which can connect together to form large, complex, and moving systems.This video shows one module changing its edge length, allowing for a connected system to modify their morphology without reconfiguration.Each module contains motors which allow it to control a connected joint and drive on flat surfaces. Each edge has couplings, allowing for modules to automatically establish a physical and electrical connection with neighbors. They have onboard batteries, sensors, and wireless capabilities.
Mori3 - Adaptive surface Reconfigurable Robotics Lab - EPFL 2023-06-12 | The Mori3 is a robot capable of changing its own shape to adapt to new environments and unseen tasks. The Mori3 consists of autonomous pieces which can connect together to form large, complex, and moving systems.This video shows six connected modules, which are able to pop out of plane to resemble the surface on the back screen.This movement uses the Mori3's ability to change a module's edge length, creating surfaces which otherwise would not be possible.
Mori3 - Rolling loop Reconfigurable Robotics Lab - EPFL 2023-06-12 | The Mori3 is a robot capable of changing its own shape to adapt to new environments and unseen tasks. The Mori3 consists of autonomous pieces which can connect together to form large, complex, and moving systems.This video shows ten modules connected as a loop, rolling across the floor.Each module can change the length of each triangular edge. When all edges on a module are identical, the loop rolls in a straight line, like a cylinder. Extending all the edges on one side of the loop changes the system to resemble a cone, allowing the robot to steer around corners, without having to disconnect and reconnect modules.
Mori3 - Walking quadruped Reconfigurable Robotics Lab - EPFL 2023-06-12 | The Mori3 is a robot capable of changing its own shape to adapt to new environments and unseen tasks. The Mori3 consists of autonomous pieces which can connect together to form large, complex, and moving systems.This video shows ten modules connected and starting flat on the ground. The robot stands up and starts walking. All of the modules are identical and functionally independent. Individually, they can only drive slowly on flat terrain, but together can create larger robots with different functionalities.
Mori3 - Module driving Reconfigurable Robotics Lab - EPFL 2023-06-12 | The Mori3 is a robot capable of changing its own shape to adapt to new environments and unseen tasks. The Mori3 consists of autonomous pieces which can connect together to form large, complex, and moving systems.This video shows one module driving under its own power. The same motors used to control the joints between modules are used with silicon wheels, allowing the module to drive itself.
RRL 10th Anniversary Reconfigurable Robotics Lab - EPFL 2022-12-08 | We are celebrating our 10th anniversary! During these ten years, we have focused on developing cutting-edge technology, pushing the limits of robotics science, and fostering learning in the academic community and the industry. We always appreciate your support and interest in our research. We invite you to join our demos and exhibition online, where we share our achievements, current projects, and vision.The exhibition will be held at the main hall of the MED building on Friday, December 9, from 4:30 p.m. to 6:30 p.m.For more information: paikslab.com
Robotics Research 2020 Reconfigurable Robotics Lab - EPFL 2020-05-28 | This is a summary of our recent and on-going robotics research efforts in 2020. For more information on our lab please visit https://rrl.epfl.ch/Lab director: Prof. Jamie PaikVideo: Christoph H. Belke————————————————————————————Descriptions for the footage shown in different sections of the video:0:19 Tribot - an insect-inspired millirobot with multiple locomotion mechanisms based on origami hinges0:32 Left: Self-sensing soft pneumatic actuator skin for closed-loop haptic feedbackCentre: Pneumagami - an origami-inspired module driven by soft pneumatic actuatorsRight: Modelling and control of origami joints driven by soft pneumatic actuators0:42 Force characterisation platform for soft pneumatic actuators in multiple degrees-of-freedom0:50 Top: A modular origami robot consisting of flat triangles that are combined to form functional robotic shapesBottom: Soft vacuum-powered modules that are safe and compliant and can be stacked to achieve different tasks1:16 Left: Haptigami - a wearable haptic feedback device for fingertips with vibrotactile and force feedbackMiddle: Wearable pneumatic supply system with parameter optimisation for soft actuatorsRight: Soft exosuit for elbow assistance using twisted string actuators and surface electromyography1:29 Virtual reality interfaces for manipulating controlling origami structures and robots1:42 Foldaway Haptics: a startup developing interactive systems with haptic feedback using origami technology1:54 Modular origami robots reconfiguring towards various space applications including extraterrestrial exploration and astronaut assistance————————————————————————————Some of the footage in this video has been published in the following scientific papers:[1] Z. Zhakypov, K. Mori, K. Hosoda, and J. Paik, “Designing Minimal and Scalable Insect-Inspired Multi-Locomotion Millirobots”, Nature, Vol. 571, p. 381–386, 2020.doi.org/10.1038/s41586-019-1388-8[2] H. A. Sonar, A. P. Gerratt, S. P. Lacour, and J. Paik, “Closed-Loop Haptic Feedback Control Using a Self-Sensing Soft Pneumatic Actuator Skin” Soft Robotics, Vol. 7, No. 1, 2020.doi.org/10.1089/soro.2019.0013[3] M. A. Robertson, O. C. Kara, and J. Paik, “Soft pneumatic actuator-driven origami-inspired modular robotic “pneumagami”, IJRR, 2020.doi.org/10.1177/0278364920909905[4] S. Joshi and J. Paik, “Multi-DoF Force Characterization of Soft Actuators”, IEEE Robotics and Automation Letters, Vol. 4, No. 4, 2020.doi.org/10.1109/LRA.2019.2927936[5] C. H. Belke and J. Paik, “Mori: A Modular Origami Robot”, IEEE/ASME Transactions on Mechatronics, Vol. 22, No. 5, 2017.doi.org/10.1109/TMECH.2017.2697310[6] M. A. Robertson and J. Paik, “New soft robots really suck: Vacuum-powered systems empower diverse capabilities”, Science Robotics, Vol. 2, No. 9, 2017.doi.org/10.1126/scirobotics.aan6357[7] M. A. Robertson, H. Sadeghi, J. M. Florez, and J. Paik, “Soft Pneumatic Actuator Fascicles for High Force and Reliability”, Soft Robotics, Vol. 4, No. 1, 2017.doi.org/10.1089/soro.2016.0029[8] M. Hosseini, R. Meattini, A. San-Millan, G. Palli, C. Melchiorri, and J. Paik, "A sEMG-Driven Soft ExoSuit Based on Twisted String Actuators for Elbow Assistive Applications," IEEE Robotics and Automation Letters, Vol. 5, No. 3, 2020.doi.org/10.1109/LRA.2020.2988152[9] M. Salerno, S. Mintchev, A. Cherpillod, S. Scaduto, and J. Paik, “Stiffness Perception of Virtual Objects Using FOLDAWAY-Touch”, Haptic Interaction, Vol. 535, AsiaHaptics 2018.doi.org/10.1007/978-981-13-3194-7_31
A Compact Modular Soft Surface With Reconfigurable Shape and Stiffness Reconfigurable Robotics Lab - EPFL 2019-08-23 | Utilizing vacuum power and soft material actuators, we have developed a soft reconfigurable surface (SRS) with multi-modal control and performance capabilities. The SRS is comprised of a square grid array of linear vacuum-powered soft pneumatic actuators (linear V-SPAs), built into plug-and-play modules which enable the arrangement, consolidation, and control of many DoF
A new coupling mechanism for our modular origami robot Mori Reconfigurable Robotics Lab - EPFL 2019-04-30 | by Christoph H. Belke and Jamie Paik"Automatic Couplings with Mechanical Overload Protection for Modular Robots"IEEE/ASME Transactions on Mechatronics, 2019doi.org/10.1109/TMECH.2019.2907802For more information on our lab's work please visit: http://rrl.epfl.ch
Reconfigurable Robotics Lab - Christmas Video 2018 Reconfigurable Robotics Lab - EPFL 2018-12-21 | Our third annual Christmas video from the wonderful land of reconfigurable robots. For more information about our research please visit http://rrl.epfl.ch/.Production: Christoph H. BelkeProduction Assistants: Jian-Lin Huang, Mustafa Mete, Alma Popescu & Zhenishbek ZhakypovContributors: Hsin-Tzu Chen, Kevin Holdcroft, Anna Popescu & Matt RobertsonCredits: Prof. Jamie Paik
Mechanical Product Design and Development (ME 410) Course promo video Reconfigurable Robotics Lab - EPFL 2018-04-24 | This movie features our Master course curriculum and seven final projects on wearable technology presented publicly at EPFL.
Design of Multi-Functional Origami Robots and Machines. Reconfigurable Robotics Lab - EPFL 2018-03-11 | Video overview of our recent IEEE Transactions on Robotics article titled "Design Methodology for Constructing Multimaterial Origami Robots and Machines" that is going to be pitched at the upcoming ICRA 2018 conference in Brisbane, Australia.For more details, check out our publication available through open access:Z. Zhakypov and J. Paik, "Design Methodology for Constructing Multimaterial Origami Robots and Machines," in IEEE Transactions on Robotics, vol. 34, no. 1, pp. 151-165, Feb. 2018. http://ieeexplore.ieee.org/document/8253607This work is supported by Swiss National Science Foundation (SNSF) "START" Project and National Centres of Competence in Research (NCCR) Robotics.Music: "Baloons Rising" by A. A. AaltoLicensed under Creative Commons Attribution NC-3.0
Highly Functional DIY Studio – White Background Reconfigurable Robotics Lab - EPFL 2018-03-10 | This is the second video in a series highlighting some of the behind the scenes at the reconfigurable robotics lab. Here we show the installation of a white background in our DIY photo studio.- by Christoph H. BelkeFor more info on our lab's activities please visit https://rrl.epfl.ch
Highly Functional DIY Studio – Backdrop Mechanism Reconfigurable Robotics Lab - EPFL 2018-02-08 | This is the first video in a series highlighting some of the behind the scenes at the reconfigurable robotics lab. Here we show one of the mechanisms of our highly functional DIY studio.- by Christoph H. BelkeFor more info on our lab's activities please visit https://rrl.epfl.ch
Reconfigurable Robotics Lab - Christmas Video 2017 Reconfigurable Robotics Lab - EPFL 2017-12-23 | Our second Christmas video from the wonderful land of reconfigurable robots. This year starring a VR interface, Mori, V-SPA and Tribot. For more information about our research please visit http://rrl.epfl.ch/.Production: Christoph H. BelkeFilm crew & Roboticists:VR interface - Jian-Lin HuangMori - Christoph H. BelkeV-SPA - Matthew A. RobertsonTribot - Zhenishbek ZhakypovCredits: Prof. Jamie PaikMusic: Christmas in July by Englewoodsoundcloud.com/engelwoodmusic
RRL Activities - Summary Reconfigurable Robotics Lab - EPFL 2017-12-08 | This is a summary of our research activities in 2017.for more information please visit https://rrl.epfl.ch/
Vacuum-powered soft robot locomotion Reconfigurable Robotics Lab - EPFL 2017-09-21 | A reconfigurable soft robot powered by vacuum can achieve multiple modes of locomotion
Vacuum-powered suction manipulation with a continuum robot Reconfigurable Robotics Lab - EPFL 2017-09-21 | A reconfigurable, vacuum-powered soft robot driven by V-SPA Modules can be used for delicate industrial applications for safe operation in close proximity to or collaboration with humans
Single V-SPA Module Workspace Reconfigurable Robotics Lab - EPFL 2017-09-21 | A 3-DoF vacuum-powered soft actuator module demonstrates multi-directional, binary operation
The Design and Control of the Multi-Locomotion Origami Robot, Tribot. Reconfigurable Robotics Lab - EPFL 2017-09-21 | The article, which is published in the IEEE Conference on Intelligent Robots and Systems (IROS) 2015, is available at ieeexplore.ieee.org/document/7353994/.
Foldaway - Ultra Portable Haptic Interface Reconfigurable Robotics Lab - EPFL 2017-08-30 | FOLDAWAY technology introduction.System description and possible applications. more information: www.foldaway-haptics.comcontact us: info@foldaway-haptics.comFoldaway Haptics Youtube Channel: youtube.com/channel/UCx4v3QiMSk67ZnWpgYiPH1Q?view_as=subscriberfollow us on facebook: https://www.facebook.com/foldawayhapt...In a world where machines and electronic devices are becoming ubiquitous and portable, the quest for low-cost and ultra-portable haptic interfaces is exponentially growing. However, the market is currently populated either by bulky and expensive interfaces that render forces with high accuracy, either by simple devices that exploit vibrations to render a limited number of sensations. FOLDAWAY, is innovating the field by developing ultra-portable and low cost origami haptic interfaces.The device has three degrees of freedom and can interact with human fingers by tracking their motion and providing force, stiffness and texture perception. Through its unique origami manufacturing, it is the first interface of its kind that folds-away when not in use. Its palm size, and thin design, makes it the ideal user interface for any portable device. The manufacturing of these structures is cost competitive, scalable and does not require manual assembly.
New soft robots really suck Reconfigurable Robotics Lab - EPFL 2017-08-30 | News Coverage EPFL Mediacom : Hillary SanctuaryEPFL scientists have created the first functional robot powered entirely by vacuum: made up of soft building blocks, it moves by having air sucked out of them. The robot can be reconfigured to perform different tasks, like climbing vertical walls and grabbing objects.This new robot sucks: to move, air has to be sucked out of its individual components. Inspired by muscle contraction, its individual soft components are activated (they collapse) when negative pressure (vacuum) is applied to them. The robot uses suction to grab objects or to stick to a smooth wall for climbing, so it can really achieve a wide range of tasks because of the unique properties of vacuum. The robot can be reconfigured to perform different tasks, making it highly modular and versatile, with a wide range of applications in both research and in industry. The invention is published today in Science Robotics.“What we have is a fully functional robot which is entirely powered by vacuum, which has never been done before,” says EPFL roboticist Matt Robertson who worked on the project. “Previous work has shown individual components powered by vacuum, but never in a complete system.”Vacuum-powered components are a recent addition to robotics – and, more importantly, they’re safe. Today, most actuators on the market are activated by applying positive pressure, i.e. by injecting air into their components. But containing positive pressure requires stiff high-pressure pneumatics, which also pose a safety threat: in extreme situations, they can explode. By comparison, vacuum-powered actuators are safe, soft, and simple to build.
An under-actuated origami gripper with adjustable stiffness joints Reconfigurable Robotics Lab - EPFL 2017-08-02 | by Amir Firouzeh and Jamie Paik For more information refer to the following publications:1- A. Firouzeh and J. Paik, " Grasp mode and compliance control of an under-actuated origami gripper using adjustable stiffness joints"IEEE/ASME Transactions on Mechatronics, 2017http://ieeexplore.ieee.org/document/79946582- A. Firouzeh, M. Salerno, and J. Paik, "Stiffness Control with Shape Memory Polymer in Underactuated Robotic Origamis"IEEE/ASME Transactions on Robotics, 2017http://ieeexplore.ieee.org/document/7915733Or contact us atReconfigurable Robotics LabÉcole polytechnique fédérale de Lausannehttp://rrl.epfl.ch
Interactive Soft Pnuematic Actuator Skin for Tactile Feedback Reconfigurable Robotics Lab - EPFL 2017-07-20 | Work presented by Harshal Sonar, Sagar Joshi, Matthew Robertson, Tigmanshu Bhatnagar and Prof. Jamie Paik. SPA-skin provides a wearable solution for providing high-fidelity and closed loop controlled tactile feedback with individual pixel actuation capabilites, ideal for next generation of tactile displays
Mori: A Modular Origami Robot Reconfigurable Robotics Lab - EPFL 2017-06-07 | by Christoph H. Belke & Jamie PaikReconfigurable Robotics LabÉcole polytechnique fédérale de Lausannehttp://rrl.epfl.chThis work has been published here:C.H. Belke and J. Paik, "Mori: A Modular Origami Robot"IEEE/ASME Transactions on Mechatronics, 2017doi.org/10.1109/TMECH.2017.2697310Music by:soundcloud.com/jeff-kaalewww.instagram.com/jeffkaale
Reconfigurable Robotics Lab - Christmas Video 2016 Reconfigurable Robotics Lab - EPFL 2016-12-22 | Reconfigurable Robotics Lab, École Polytechnique Fédérale de Lausannehttp://rrl.epfl.ch/
SPA-Skin with PZT Sensors for Vibrotactile Feedback Reconfigurable Robotics Lab - EPFL 2016-07-15 | We present a soft pneumatic actuator (SPA)-based skin prototype that allows bidirectional tactile information transfer to facilitate simpler and responsive wearable interface. It is a 1.4 mm-thick vibratory SPA – skin that is integrated with piezoelectric sensors. Experimental findings show that this ultra-thin SPA and the unique integration process of the discrete lead zirconate titanate (PZT)-based piezoelectric sensors achieve high resolution of soft contact sensing as well as accurate control on vibrotactile feedback by closing the control loop. This system can not only detect the internal vibrations from actuators but also, external interaction forces as can be seen from the graph (inset).
4 gram origami robot (Robogami) that crawls and jumps Reconfigurable Robotics Lab - EPFL 2015-11-10 | Robotic Origami or Robogami is foldable quasi-2D crease patterned robots built from functional materials that can pop-up to reconstruct various 3D shapes and mechanisms, theoretically, with infinite degrees-of-freedom.Tribot is a unique mobile origami robot that can simultaneously choose between two modes of locomotion: jumping and crawling. When assembled, Tribot weighs 4 g, crawls at 17% of its body length per gait cycle and jumps seven times its height repeatedly. To optimize the practicality of the nominally 2D design, we made two different approaches to build the prototypes. For one of them, we used the "traditional", monolithic, layer-by-layer robogami fabrication method and the second, we printed out most parts using a multi-material 3D printer. The embedded sensors allow Tribot's crawling gait pattern and jumping height to be modulated with a closed loop control. For more details, please visit rrl.epfl.ch.
Rehabilitative Soft Exoskeleton for Rodents Reconfigurable Robotics Lab - EPFL 2015-03-30 | Rat exo skeleton actuated by soft pneumatic actuators
Robogami Crawler with Embedded Circuit Reconfigurable Robotics Lab - EPFL 2015-03-30 | Robogami Crawler robot with SMA actuators, Piezo resistive curvature sensors, and control circuit.
Under-actuated Robotic Finger with Adjustable Stiffness Joints Reconfigurable Robotics Lab - EPFL 2015-03-30 | In this prototype possibility of using shape memory polymer for locking and unlocking joints to direct actuation to a desired joint is studied.
SPA with Adjustable Stiffness Layers for Multi-DoF Actuation Reconfigurable Robotics Lab - EPFL 2015-03-30 | The video presents 3 main modes of actuation of Soft Pneumatic Actuator (SPA) with embedded Adaptive Stiffness Layer (ASL)
Magic Ball Reconfigurable Robotics Lab - EPFL 2012-12-20 | The Magic Ball crease pattern is particular three-dimensional origami folding. This structure can deform in space by degenerating an ellipsoidal geometry, from a ball to a cylinder.Here in our lab, we use SMA strings to actuate the deformation.For more information, please check our lab webpage: http://rrl.epfl.ch/page-77722.html
Robogami Application - Multishape Transformation Reconfigurable Robotics Lab - EPFL 2012-12-20 | This is the envision of Robogami which is under development in our lab: Reconfigurable Robotics Lab. In this video, we give one of the possible application of Robogami: Multishape transformation.For more information, please check our lab webpage: http://rrl.epfl.ch/page-77722.html
Robogami Application - Facial Movement Detection Reconfigurable Robotics Lab - EPFL 2012-12-20 | This is the envision of Robogami which is under development in our lab: Reconfigurable Robotics Lab. In this video, we give one of the possible application of Robogami: Facial movement detection.For more information, please check our lab webpage: http://rrl.epfl.ch/page-77722.html
Robogami Envision Reconfigurable Robotics Lab - EPFL 2012-12-20 | This is the envision of Robogami which is under development in our lab: Reconfigurable Robotics Lab. For more information, please check our lab webpage: http://rrl.epfl.ch/page-77722.html
