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Jumping and landing movements are characterized by large instantaneous forces, short duration, and a high uncertainty concerning take off and landing points. Such characteristics make conventional types of control and robot design inadequate. Here we present an approach to realize motor control of jumping and landing which exploits the synergy between(More)
Purpose – This paper focuses on an engineering application of the vertebrate musculoskeletal system. The musculoskeletal system has unique mechanisms such as bi-articular muscle, antagonistic muscle pairs and muscle-tendon elasticity. The " Artificial Musculoskeletal System " is achieved through the use of the pneumatic artificial muscles. The study(More)
This paper presents PneUI, an enabling technology to build shape-changing interfaces through pneumatically-actuated soft composite materials. The composite materials integrate the capabilities of both input sensing and active shape output. This is enabled by the composites' multi-layer structures with different mechanical or electrical properties. The shape(More)
—The essential component of legged locomotion is control of the ground reaction force. To understand the role of the musculoskeletal body in dynamic locomotion, we investigate bipedal running using a musculoskeletal " Athlete Robot ". The configuration of the muscles in the robot is compatible with the human. The spring-like property of the human lower leg(More)
This works introduces layer jamming as an enabling technology for designing deformable, stiffness-tunable, thin sheet interfaces. Interfaces that exhibit tunable stiffness properties can yield dynamic haptic feedback and shape deformation capabilities. In comparison to the particle jamming, layer jamming allows for constructing thin and lightweight form(More)
This paper presents a weight-changing device based on the transfer of mass. We chose liquid metal (Ga-In-Tin eutectic) and a bi-directional pump to control the mass that is injected into or removed from a target object. The liquid metal has a density of 6.44g/cm<sup>3</sup>, which is about six times heavier than water, and is thus suitable for effective(More)
As domestic robots and smart appliances become increasingly common, they require a simple, universal interface to control their motion. Such an interface must support a simple selection of a connected device, highlight its capabilities and allow for an intuitive manipulation. We propose "exTouch", an embodied spatially-aware approach to touch and control(More)
We propose soft planar actuators enhanced by free-form fabrication that are suitable for making everyday objects move. The actuator consists of one or more inflatable pouches with an adhesive back. We have developed a machine for the fabrication of free-from pouches; squares, circles and ribbons are all possible. The deformation of the pouches can provide(More)
To gain a synthetic understanding of how the body and nervous system co-create animal locomotion, we propose an investigation into a quadruped musculoskeletal robot with biologically realistic morphology and a nervous system. The muscle configuration and sensory feedback of our robot are compatible with the mono- and bi-articular muscles of a quadruped(More)