Suresh, Srinivasan A, Kerst, Capella F, Cutkosky, Mark R, and Hawkes, Elliot W
Suresh, Srinivasan A; Kerst, Capella F; Cutkosky, Mark R; & Hawkes, Elliot W. (2019). Spatially variant microstructured adhesive with one-way friction. JOURNAL OF THE ROYAL SOCIETY INTERFACE, 16(150), 20180705 - 20180705. doi: 10.1098/rsif.2018.0705. UC Santa Barbara: Retrieved from: http://www.escholarship.org/uc/item/42x866s7
gecko-inspired adhesives, microstructures, bioinspiration, materials, MD Multidisciplinary, and General Science & Technology
Imbrie-Moore, Annabel M., Paulsen, Michael J., Thakore, Akshara D., Wang, Hanjay, Hironaka, Camille E., Lucian, Haley J., Farry, Justin M., Edwards, Bryan B., Bae, Jung Hwa, Cutkosky, Mark R., and Woo, Y. Joseph
Heverly, Matthew C, Kennedy, Brett A, Cutkosky, Mark R, Parness, Aaron, and Hawkes, Elliot Wright
Cybernetics, Artificial Intelligence and Robotics
Novel gripping structures based on van der Waals adhesive forces are disclosed. Pads covered with fibers can be activated in pairs by opposite forces, thereby enabling control of the adhesive force in an ON or OFF state. Pads can be used in groups, each comprising a group of opposite pads. The adhesive structures enable anchoring forces that can resist adverse forces from different directions. The adhesive structures can be used to enable the operation of robots on surfaces of space vehicles.
ROBOTS, ROBOTICS, COMPUTER simulation, SIMULATION methods & models, and FINITE element method
Gentle suction flow at the fingertips of a compliant hand can enhance object acquisition and increase the robustness of pinch grasps under water. The approach adds a low-pressure pump and flexible tubes that terminate at the distal phalanges. The light flow rate does not create a powerful suction force, nor does it stir up significant sediment. The method works on porous and rough objects in addition to smooth objects as it does not require forming a seal. It changes contact conditions—normal force and coefficient of friction—and enlarges the acquisition region when grasping free objects under water. A simple hydrodynamic model matches empirical force measurements adequately for incorporation in a dynamic simulation to explore the effects of flow rate and object mass. Simulations and experiments show that effects of fingertip suction flow are most pronounced for acquiring objects on the order of 1 kg or less and when pinching large objects. Gentle suction flow is an effective, versatile, and convenient addition for robots that must grasp and manipulate objects under water. [ABSTRACT FROM AUTHOR]
Chau, Kelvin K, Park, Yong-Lae, Black, Richard James, Cutkosky, Mark R, and Moslehi, Behzad
A sensor for force is formed from an elastomeric cylinder having a region with apertures. The apertures have passageways formed between them, and an optical fiber is introduced into these passageways, where the optical fiber has a grating for measurement of tension positioned in the passageways between apertures. Optionally, a temperature measurement sensor is placed in or around the elastomer for temperature correction, and if required, a copper film may be deposited in the elastomer for reduced sensitivity to spot temperature variations in the elastomer near the sensors.