All of our research findings and experimental results are shared with our partners at the University of Michigan. David Remy and Wyatt Felt of the RAMlab team have contributed greatly to the project. The following are links to publications and educational materials created by RAMlab.
Demonstration of FREE accuracy
Smart Braid Feedback for the Closed-Loop Control of Soft Robotic Systems: Wyatt Felt, Khai Yi Chin, C.David Remy
Smart Braid Feedback for the Closed-loop Control of Soft Robotic Systems (Supplementary Video) from Wyatt Felt on Vimeo.
Smart Braid, Soft Self-Sensing Pneumatic Artificial Muscles: Wyatt Felt, Khai Yi Chin, C.David Remy
[vimeo 139473898 w=640 h=360]Smart Braid, Soft Self-Sensing Pneumatic Artificial Muscles from Wyatt Felt on Vimeo.
Dynamic Test of “Smart Braid” McKibben Muscles: Wyatt Felt, Khai Yi Chin, C.David Remy
[vimeo 127875896 w=640 h=360]Dynamic Test of "Smart Braid" McKibben Muscles from Wyatt Felt on Vimeo.
Earlier FREE Module
Publications
- Felt, W. and Remy, C.D., 2018, “A closed-form kinematic model for Fiber Reinforced Elastomeric Enclosures”, Journal of Mechanisms and Robotics, 10(1):- [URL]
- Felt, W., Lu, S., Remy, C.D., 2018, “Modeling and design of “Smart Braid” inductance sensors for fiber-reinforced elastomeric enclosures”, IEEE Sensors Journal, In press(-):- [URL]
- Felt, W., Chin, K.Y., and Remy, C.D., 2017, “Smart Braid feedback for the closed-loop control of soft robotic systems”, Soft Robotics, 4(3):261-273 [URL]
- Felt, W., Chin, K.Y., and Remy, C.D., 2015, “Contraction sensing with Smart Braid McKibben muscles”, IEEE/ASME Transactions on Mechatronics, 21(3):1201-2019 [URL]
- Felt, W.,Telleria, M.J., Allen, T., Hein, G., Pompa, J., Albert, K., Remy, C.D., 2017, “An inductance-based sensing system for bellows-driven continuum joints in soft robots”, Robotics: Science and Systems (RSS), Cambridge, MA [URL]
- Felt, W., Chin, K.Y., and Remy, C.D., 2016, “Self-sensing pneumatic artificial muscles for feedback control using the inductance of “Smart Braids””, Dynamic Walking, Holly, MI [preprint]
- Felt, W., Suen, M., and Remy, C.D., 2016, “Sensing the motion of bellows through changes in mutual inductance”, International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea [URL]
- Felt, W., Chin, K.Y., and Remy, C.D., 2015, “Dynamic tracking of joint motion with antagonized smart braids”, Fluid Power Innovation & Research Conference (FPIRC) [preprint]
- Felt, Wyatt and Remy, C.D., 2014, “Smart Braid: Air muscles that measure force and displacement”, International Conference on Intelligent Robots and Systems (IROS), Chicago, IL [preprint] [URL]
- Felt, W. and Remy, C.D., 2017, “Soft actuators with integrated inductance sensing for material robotics”, Robotics: Science and Systems (RSS), Material Robotics (MaRo) Workshop [preprint]
- Felt, W. and Remy, C.D., 2016, “Variable inductance structures for self-sensing soft actuation in wearable robotic devices”, IROS Joint Workshop on ‘Wearable Robotics and Assistive Devices’
- Felt, W. and Remy, C.D., 2014, “How to create self-sensing air muscles from conductive fibers”, Robotics: Science and Systems Conference (RSS), Workshop on ‘Advances on Soft Robotics’ [preprint]