Yigit Mengüç

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A new method, embedded-3D printing (e-3DP), is reported for fabricating strain sensors within highly conformal and extensible elastomeric matrices. e-3DP allows soft sensors to be created in nearly arbitrary planar and 3D motifs in a highly programmable and seamless manner. Several embodiments are demonstrated and sensor performance is characterized.
This paper presents the design and optimization of a wall-climbing robot along with the incorporation of autonomous adhesion recovery and a motion planning implementation. The result is Waalbot II, an untethered 85 g robot able to climb on smooth vertical surfaces with up to a 100 g payload (117% body mass) or, when unburdened, on planar surfaces of any(More)
Motion sensing has played an important role in the study of human biomechanics as well as the entertainment industry. Although existing technologies, such as optical or inertial based motion capture systems, have relatively high accuracy in detecting body motions, they still have inherent limitations with regards to mobility and wearability. In this paper,(More)
A new method for fabricating textile integrable capacitive soft strain sensors is reported, based on multicore-shell fiber printing. The fiber sensors consist of four concentric, alternating layers of conductor and dielectric, respectively. These wearable sensors provide accurate and hysteresis-free strain measurements under both static and dynamic(More)
The exceptionally adhesive foot of the gecko remains clean in dirty environments by shedding contaminants with each step. Synthetic gecko-inspired adhesives have achieved similar attachment strengths to the gecko on smooth surfaces, but the process of contact self-cleaning has yet to be effectively demonstrated. Here, we present the first gecko-inspired(More)
Wearable robots based on soft materials will augment mobility and performance of the host without restricting natural kinematics. These wearable robots will need wearable soft sensors to monitor the movement of the wearer and robot outside the lab. Until now wearable soft sensors have not demonstrated significant mechanical robustness nor been(More)
Many pneumatic energy sources are available for use in autonomous and wearable soft robotics, but it is often not obvious which options are most desirable or even how to compare them. To address this, we compare pneumatic energy sources and review their relative merits. We evaluate commercially available battery-based microcompressors (singly, in parallel,(More)
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(More)
Soft sensors comprising a flexible matrix with embedded circuit elements can undergo large deformation while maintaining adequate performance. These devices have attracted considerable interest for their ability to be integrated with the human body and have enabled the design of skin-like health monitoring devices, sensing suits and soft active orthotics.(More)
This paper presents analysis and results for a small and agile wall climbing robot's ability to regain lost adhesion due to degradation of dry fibrillar adhesives. To regain the lost adhesion, two feet are set to the surface and the robot performs a rocking motion on the side where the adhesion has dropped below a safety threshold. The rocking motion(More)