Robotics

Our robotic work includes sensors and actuators for silicone soft robots and other types of flexible robots.

Bupe, Paul, and C K Harnett. 2023. "OptiGap: A Modular Optical Sensor System for Bend Localization." In 2023 IEEE International Conference on Robotics and Automation (ICRA), 620–26. https://doi.org/10.1109/ICRA48891.2023.10161357.
Han, Michael S, Dan O Popa, and Cindy K Harnett. 2023. "Anti-Slipping Adaptive Grasping Control with a Novel Optoelectronic Soft Sensor." In 2023 IEEE International Conference on Soft Robotics (RoboSoft), 1–6. https://doi.org/10.1109/RoboSoft55895.2023.10122010.
Han, Michael Seokyoung, and Cindy K Harnett. 2022. "Soft, All-Polymer Optoelectronic Tactile Sensor for Stick-Slip Detection." Advanced Materials Technologies, 2200406.
Wei, Danming, Sushmita Challa, Mohammad S Islam, Jasmin Beharic, Cindy K Harnett, and Dan O Popa. 2022. "Multi-Robot Collaboration for Electronic Textile Fabrication." In 2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), 1–6. IEEE.
Lin, Ji-Tzuoh, and CK Harnett. 2020. "Absolute Length Sensor Based on Time of Flight in Stretchable Optical Fibers." IEEE Sensors Letters 4 (10): 1–4. https://doi.org/10.1109/LSENS.2020.3028332.
Yang, Z., N. Saadatzi, R. Zhang, A. Sherehiy, D. Wei, C. K. Harnett, and D. O. Popa. 2019. “Multiphysics Dynamic Model Validation Methodology for Laser-Driven Microrobots.” In Proc. CASE. Vancouver, B. C., Canada.
Challa, S., M. S. Islam, and C. K. Harnett. 2019. “Fiber-Crawling Microrobots.” In Proceedings of MARSS. Helsinki, Finland.
Zhang, Ruoshi, Andriy Sherehiy, Zhong Yang, Danming Wei, Cindy K Harnett, and Dan O Popa. 2019. “ChevBot–An Untethered Microrobot Powered by Laser for Microfactory Applications.” In 2019 International Conference on Robotics and Automation (ICRA), 231–36. ieeexplore.ieee.org.
"Soft Electromagnetic Actuators." 2018. Poster presented at the Fall Materials Research Society Meeting, Boston, MA, November 25.
"Experimental study of AC-driven flow through nanopores with single-side conductive coatings." 2018. Poster presented at the 71st Annual Meeting of the American Physical Society Division of Fluid Dynamics, Atlanta, GA, November 18.
Ceron, Steven, Cohen, Itai, Shepherd, Robert F., Pikul, James H., and C. K. Harnett. 2018. "Fiber Embroidery of Self-Sensing Soft Actuators." Biomimetics 3 (3): 24–37. https://doi.org/10.3390/biomimetics3030024.
Doerger, S. R., and C. K. Harnett. 2018. "Force-Amplified Soft Electromagnetic Actuators." Actuators 7 (4): 76. https://doi.org/10.3390/act7040076.
Beharic, J. 2016. "Alternating Current Electro-Osmotic Pumping at Asymmetrically Metallized Porous Membranes." Presented at the AES Electrophoresis Society section of AIChE Annual Conference, San Francisco, CA, November 15.
Kimmer, C. J., and C. K. Harnett. 2016. "Combining Strings and Fibers with Additive Manufacturing Designs." In Proceedings of ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, V004T05A014. Charlotte, NC. https://doi.org/10.1115/DETC2016-59569.
Harnett, C. K. 2016. "Flexible circuits with integrated switches for robotic shape sensing." In Sensors for Next-Generation Robotics, Paper 9859-18. Baltimore, MD. https://doi.org/http://dx.doi.org/10.1117/12.2235356.
Harnett, C. K. 2008. "Determining the physical sequence of sensors on a serial bus with minimal wiring." Sensors Journal, IEEE 8 (4): 382–83.
Harnett, Cindy, Huichan Zhao, and Robert Shepherd. n.d. Stretchable optical fibers for strain-sensitive textiles. App 16/965,444.