Publications
2024
Journal Articles
Text-to-Microstructure Generation Using Generative Deep Learning
X. Zheng; I. Watanabe; J. Paik; J. Li; X. Guo et al.
Small.2024-05-21. DOI : 10.1002/smll.202402685.
SORI: A softness-rendering interface to unravel the nature of softness perception
M. Mete; H. Jeong; W. D. Wang; J. Paik
Proceedings Of The National Academy Of Sciences Of The United States Of America. 2024-03-26. Vol. 121, num. 13, p. e2314901121. DOI : 10.1073/pnas.2314901121.
Theses
Memento Mori: Reliable robustness in self-reconfigurable modular robots
K. A. Holdcroft / J. Paik (Dir.)
Lausanne, EPFL, 2024.
2023
Journal Articles
Multi-modal deformation and temperature sensing for context-sensitive machines
R. Baines; F. Zuliani; N. Chennoufi; S. D. Joshi; R. Kramer-Bottiglio et al.
Nature Communications. 2023-11-18. Vol. 14, num. 1, p. 7499. DOI : 10.1038/s41467-023-42655-y.
Morphological flexibility in robotic systems through physical polygon meshing
C. H. Belke; K. A. Holdcroft; A. Sigrist; J. Paik
Nature Machine Intelligence. 2023-06-12. DOI : 10.1038/s42256-023-00676-8.
Earwig-inspired foldable origami wing for micro air vehicle gliding
R. Ishiguro; T. Kawasetsu; Y. Motoori; J. Paik; K. Hosoda
Frontiers In Robotics And Ai. 2023-11-09. Vol. 10, p. 1255666. DOI : 10.3389/frobt.2023.1255666.
Hypogravity modeling of upper extremities: an investigation of manual handling in the workplace
Frontiers In Physiology. 2023-10-02. Vol. 14, p. 1198162. DOI : 10.3389/fphys.2023.1198162.
Hand and face somatotopy shown using MRI-safe vibrotactile stimulation with a novel soft pneumatic actuator (SPA)-skin interface
S. Kikkert; H. A. Sonar; P. Freund; J. Paik; N. Wenderoth
Neuroimage. 2023-02-11. Vol. 269, p. 119932. DOI : 10.1016/j.neuroimage.2023.119932.
Sensorless force and displacement estimation in soft actuators
Soft Matter. 2023-03-21. DOI : 10.1039/d2sm01197b.
Conference Papers
Dynamic Modeling of an Origami Prismatic Joint
2023-01-01. IEEE International Conference on Soft Robotics (RoboSoft), Singapore, SINGAPORE, Apr 03-07, 2023. DOI : 10.1109/ROBOSOFT55895.2023.10122040.
Theses
Human Interactive Robotic Surfaces for Physical Immersion
Lausanne, EPFL, 2023.
2022
Journal Articles
Electromagnetic actuator design for distributed stiffness
Smart Materials And Structures. 2022-11-01. Vol. 31, num. 11, p. 115023. DOI : 10.1088/1361-665X/ac97d4.
Flexure Variable Stiffness Actuators
F. H. Giraud; M. Mete; J. Paik
Advanced Intelligent Systems. 2022-06-22. p. 2100282. DOI : 10.1002/aisy.202100282.
Hybrid Wireless-Local Communication via Information Propagation for Modular Robotic Synchronization Applications
K. Holdcroft; C. Belke; A. Sigrist; S. Bennani; J. Paik
Advanced Intelligent Systems. 2022-03-19. p. 2100226. DOI : 10.1002/aisy.202100226.
Lattice-and-Plate Model: Mechanics Modeling of Physical Origami Robots
Soft Robotics. 2022-06-17. DOI : 10.1089/soro.2021.0172.
3PAC: A Plug-and-Play System for Distributed Power Sharing and Communication in Modular Robots
K. A. Holdcroft; C. H. Belke; S. Bennani; J. Paik
Ieee-Asme Transactions On Mechatronics. 2022-04-01. Vol. 27, num. 2, p. 858-867. DOI : 10.1109/TMECH.2021.3073538.
Kirigami Design and Modeling for Strong, Lightweight Metamaterials
Advanced Functional Materials. 2022-02-21. p. 2107401. DOI : 10.1002/adfm.202107401.
Haptigami: a fingertip haptic interface with vibrotactile and 3-DoF cutaneous force feedback
F. H. Giraud; S. Joshi; J. Paik
IEEE Transactions on Haptics. 2022. Vol. 15, num. 1, p. 131-141. DOI : 10.1109/TOH.2021.3104216.
3D Printed Motor-Sensory Module Prototype for Facial Rehabilitation
S. Walker; A. Firouzeh; M. Robertson; Y. Menguc; J. Paik
Soft Robotics. 2022. Vol. 9, num. 2, p. 354-363. DOI : 10.1089/soro.2020.0010.
Theses
Active origami platforms for human-robot interactions
Lausanne, EPFL, 2022.
2021
Journal Articles
Closed-Loop Position Control of a Self-Sensing 3-DoF Origami Module With Pneumatic Actuators
Ieee Robotics And Automation Letters. 2021-10-01. Vol. 6, num. 4, p. 8213-8220. DOI : 10.1109/LRA.2021.3102952.
Flow Path Optimization for Soft Pneumatic Actuators: Towards Optimal Performance and Portability
Ieee Robotics And Automation Letters. 2021-10-01. Vol. 6, num. 4, p. 7949-7956. DOI : 10.1109/LRA.2021.3100626.
CMOS-Inspired Complementary Fluidic Circuits for Soft Robots
Advanced Science. 2021-08-29. p. 2100924. DOI : 10.1002/advs.202100924.
Soft Bionic Sensors and Actuators
Advanced Intelligent Systems. 2021-03-01. Vol. 3, num. 3, p. 2100003. DOI : 10.1002/aisy.202100003.
Soft Touch using Soft Pneumatic Actuator-Skin as a Wearable Haptic Feedback Device
H. A. Sonar; J-L. Huang; J. Paik
Advanced Intelligent Systems. 2021-03-01. Vol. 3, num. 3, p. 2000168. DOI : 10.1002/aisy.202000168.
A 4D printed active compliant hinge for potential space applications using shape memory alloys and polymers
O. Testoni; T. Lumpe; J-L. Huang; M. Wagner; S. Bodkhe et al.
Smart Materials And Structures. 2021-08-01. Vol. 30, num. 8, p. 085004. DOI : 10.1088/1361-665X/ac01fa.
Generalized modeling of origami folding joints
H. Zhang; H. Feng; J-L. Huang; J. Paik
Extreme Mechanics Letters. 2021-05-01. Vol. 45, p. 101213. DOI : 10.1016/j.eml.2021.101213.
A hybrid control strategy for force and precise end effector positioning of a twisted string actuator
A. San-Millan; M. Hosseini; J. Paik
IEEE/ASME Transactions on Mechatronics. 2021. Vol. 26, num. 5, p. 2791-2802. DOI : 10.1109/TMECH.2020.3047157.
Pneumatic supply system parameter optimization for soft actuators
Soft Robotics. 2021. Vol. 8, num. 2, p. 152-163. DOI : 10.1089/soro.2019.0134.
Soft pneumatic actuator-driven origami-inspired modular robotic ‘‘pneumagami’’
M. A. Robertson; Ö. C. Kara; J. Paik
The International Journal of Robotics Research. 2021. Vol. 40, num. 1, p. 72-85. DOI : 10.1177/0278364920909905.
Conference Papers
Variable Stiffness Folding Joints for Haptic Feedback
2021-01-01. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), ELECTR NETWORK, Sep 27-Oct 01, 2021. p. 8332-8338. DOI : 10.1109/IROS51168.2021.9636656.
Theses
Development and control of interactive reconfigurable robotic systems
Lausanne, EPFL, 2021.
Design and dynamic analysis of soft pneumatic systems for wearable robots
Lausanne, EPFL, 2021.
Comprehensive Interactive Soft Interfaces for Wearable Tactile Feedback
Lausanne, EPFL, 2021.
2020
Journal Articles
Asperuloside Improves Obesity and Type 2 Diabetes through Modulation of Gut Microbiota and Metabolic Signaling
A. Nakamura; Y. Yokoyama; K. Tanaka; G. Benegiamo; A. Hirayama et al.
Iscience. 2020-09-25. Vol. 23, num. 9, p. 101522. DOI : 10.1016/j.isci.2020.101522.
Towards rich motion skills with the lightweight quadruped robot Serval
P. Eckert; A. E. M. Schmerbauch; T. Horvat; K. Soehnel; M. S. Fischer et al.
Adaptive Behavior. 2020-06-01. Vol. 28, num. 3, p. 129-150. DOI : 10.1177/1059712319853227.
Stretchable Kirigami Components for Composite Meso-Scale Robots
A. Firouzeh; T. Higashisaka; K. Nagato; K. Cho; J. Paik
Ieee Robotics And Automation Letters. 2020-04-01. Vol. 5, num. 2, p. 1883-1890. DOI : 10.1109/LRA.2020.2969924.
A sEMG-driven Soft ExoSuit based on Twisted String Actuators for Elbow Assistive Applications
M. Hosseini; R. Meattini; A. San Millan Rodriguez; G. Palli; C. Melchiorri et al.
IEEE Robotics and Automation Letters. 2020. Vol. 5, num. 3, p. 4094-4101. DOI : 10.1109/LRA.2020.2988152.
Age-Dependent Asymmetry of Wrist Position Sense Is Not Influenced by Stochastic Tactile Stimulation
A-M. Georgarakis; H. A. Sonar; M. D. Rinderknecht; W. L. Popp; J. E. Duarte et al.
Frontiers In Human Neuroscience. 2020-03-03. Vol. 14, p. 65. DOI : 10.3389/fnhum.2020.00065.
Hinges for origami-inspired structures by multimaterial additive manufacturing
M. A. Wagner; J-L. Huang; P. Okle; J. Paik; R. Spolenak
Materials & Design. 2020-03-13. Vol. 191, p. 108643. DOI : 10.1016/j.matdes.2020.108643.
A bioinspired Separated Flow wing provides turbulence resilience and aerodynamic efficiency for miniature drones
M. Di Luca; S. Mintchev; Y. Su; E. Shaw; K. Breuer
Science Robotics. 2020-01-29. Vol. 5, num. 38, p. eaay8533. DOI : 10.1126/scirobotics.aay8533.
Closed-Loop Haptic Feedback Control Using a Self-Sensing Soft Pneumatic Actuator Skin
H. A. Sonar; A. P. Gerratt; S. Lacour; J. Paik
Soft Robotics. 2020. Vol. 7, num. 1, p. 22-29. DOI : 10.1089/soro.2019.0013.
Conference Papers
An Actuation Fault Tolerance Approach to Reconfiguration Planning of Modular Self-folding Robots
M. Yao; X. Xiao; Y. Tian; H. Cui; J. Paik
2020-01-01. IEEE International Conference on Robotics and Automation (ICRA), ELECTR NETWORK, May 31-Jun 15, 2020. p. 8274-8280. DOI : 10.1109/ICRA40945.2020.9196574.
Theses
From Modular Origami Robots to Polygon-based Modular Systems: a New Paradigm in Reconfigurable Robotics
Lausanne, EPFL, 2020.
2019
Journal Articles
The Foldable Drone: A Morphing Quadrotor That Can Squeeze and Fly
D. Falanga; K. Kleber; S. Mintchev; D. Floreano; D. Scaramuzza
Ieee Robotics And Automation Letters. 2019-04-01. Vol. 4, num. 2, p. 209-216. DOI : 10.1109/LRA.2018.2885575.
A portable three-degrees-of-freedom force feedback origami robot for human-robot interactions
S. Mintchev; M. Salerno; A. Cherpillod; S. Scaduto; J. Paik
Nature Machine Intelligence. 2019-12-01. Vol. 1, num. 12, p. 584-593. DOI : 10.1038/s42256-019-0125-1.
Two-degrees-of-freedom (PID)-D-2 controller for precise nanopositioning in the presence of hardware-induced constant time delay
A. San-Millan; V. Feliu-Batlle; S. S. Aphale
Isa Transactions. 2019-08-01. Vol. 91, p. 207-217. DOI : 10.1016/j.isatra.2019.01.028.
Multi-DoF Force Characterization of Soft Actuators
IEEE Robotics and Automation Letters. 2019-07-10. Vol. 4, num. 4, p. 3679-3686. DOI : 10.1109/LRA.2019.2927936.
Designing Minimal and Scalable Insect-Inspired Multi-Locomotion Millirobots
Z. Zhakypov; K. Mori; K. Hosoda; J. Paik
Nature. 2019-07-10. Vol. 571, p. 381–386. DOI : 10.1038/s41586-019-1388-8.
Guest Editorial Focused Section on Soft Actuators, Sensors, and Components (SASC)
K. K. Leang; F. Iida; J. Paik; Y. -L. Park; J. Ueda
Ieee-Asme Transactions On Mechatronics. 2019-02-01. Vol. 24, num. 1, p. 1-4. DOI : 10.1109/TMECH.2019.2894821.
Modular Reconfigurable Robotics
Annual Review Of Control, Robotics, And Autonomous Systems. 2019-01-01. Vol. 2, p. 63-88. DOI : 10.1146/annurev-control-053018-023834.
Single chamber multiple degree-of-freedom soft pneumatic actuator enabled by adjustable stiffness layers
J. Santoso; E. H. Skorina; M. Salerno; S. de Rivaz; J. Paik et al.
Smart Materials And Structures. 2019-03-01. Vol. 28, num. 3, p. 035012. DOI : 10.1088/1361-665X/aaf9c0.
RoboScallop: A Bivalve Inspired Swimming Robot
M. A. Robertson; F. Lfremov; J. Paik
Ieee Robotics And Automation Letters. 2019-04-01. Vol. 4, num. 2, p. 2078-2085. DOI : 10.1109/LRA.2019.2897144.
Mechanics of a pressure-controlled adhesive membrane for soft robotic gripping on curved surfaces
S. Song; D-M. Drotlef; J. Paik; C. Majidi; M. Sitti
Extreme Mechanics Letters. 2019-05-23. Vol. 30, p. 100485. DOI : 10.1016/j.eml.2019.100485.
Folded-Tube Soft Pneumatic Actuators for Bending
Soft Robotics. 2019-03-26. Vol. 6, num. 2, p. 174-183. DOI : 10.1089/soro.2018.0075.
Automatic Couplings with Mechanical Overload Protection for Modular Robots
IEEE/ASME Transactions on Mechatronics. 2019. Vol. 24, num. 3, p. 1420-1426. DOI : 10.1109/TMECH.2019.2907802.
Conference Papers
Programmable Fluidic Networks Design for Robotic Origami Sequential Self-Folding
Z. Zhakypov; M. Mete; J. Fiorentino; J. Paik
2019-05-27. IEEE International Conference on Soft Robotics (RoboSoft), Seol, South Korea, 14-18 April 2019. p. 814-820. DOI : 10.1109/ROBOSOFT.2019.8722798.
Design of Low-Profile Compliant Transmission Mechanisms
F. H. Giraud; Z. Zhakypov; J. Paik
2019. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, Novembre 3-8, 2019. p. 2700-2707. DOI : 10.1109/IROS40897.2019.8967701.
FOLDAWAY DroneSense, a controller for haptic information encoding for drone pilots
M. Salerno; J. Paik; S. Mintchev
2019-05-05. 1st International Workshop on Human-Drone Interaction, Glasgow, May 5, 2019.
Stiffness Perception of Virtual Objects Using FOLDAWAY-Touch
M. Salerno; S. Mintchev; A. Cherpillod; S. Scaduto; J. Paik
2019-05-14. Digital Image Forensics, Songdo, Korea (Republic of), November 14-16, 2018. p. 139-143. DOI : 10.1007/978-981-13-3194-7_31.
Bi-Modal Control of Vacuum-Powered Soft Pneumatic Actuators with Embedded Liquid Metal-Based Strain Sensitive Skin
M. A. Robertson; L. M. Dejace; S. Lacour; J. Paik
2019. Robosoft 2019, Seoul, South Korea, April 14-18, 2019. p. 217-221. DOI : 10.1109/ROBOSOFT.2019.8722810.
Theses
Design Methodology for Engineering Multifunctional Mesoscale Robots
Lausanne, EPFL, 2019.
Modular soft pneumatic actuator system design for compliance matching
Lausanne, EPFL, 2019.
Posters
Force Characterization Of Meso-Scale Haptic Devices
S. D. Joshi; F. Giraud; J. Paik
IEEE/RSJ International Conference on Intelligent Robots and Systems – IROS 2019, Macau, China, November 4 – 8, 2019.
Talks
Hinges for Origami-Inspired Structures by Multi-Material Additive Manufacturing
M. Wagner; J-L. Huang; P. Okle; J. Paik; R. Spolenak
2019 MRS Spring Meeting & Exhibit, Phoenix, Arizona, April 26-29, 2019.
2018
Journal Articles
An Origami-Inspired Reconfigurable Suction Gripper for Picking Objects with Variable Shape and Size
Z. Zhakypov; F. Heremans; A. Billard; J. Paik
IEEE Robotics and Automation Letters. 2018-07-01. Vol. 3, num. 4, p. 2894-2901. DOI : 10.1109/LRA.2018.2847403.
Minimally Actuated Transformation of Origami Machines
F. Zuliani; C. Liu; J. Paik; S. M. Felton
IEEE Robotics and Automation Letters. 2018-01-31. Vol. 3, num. 3, p. 1426-1433. DOI : 10.1109/LRA.2018.2800126.
A New Kinematic Model and Control Strategy for a Mobile Platform for Transporting Lightweight Manipulators
D. Feliu-Talegon; A. San-Millan; V. Feliu-Batlle
Electronics. 2018-12-01. Vol. 7, num. 12, p. 441. DOI : 10.3390/electronics7120441.
Design and Computational Modeling of a Modular, Compliant Robotic Assembly for Human Lumbar Unit and Spinal Cord Assistance (vol 7, 14391, 2017)
G. Agarwal; M. Robertson; H. Sonar; J. Paik
Scientific Reports. 2018. Vol. 8, p. 13218. DOI : 10.1038/s41598-018-31446-x.
A Compact Modular Soft Surface With Reconfigurable Shape and Stiffness
M. A. Robertson; M. Murakami; W. M. Felt; J. Paik; M. A. Robertson et al.
IEEE/ASME Transactions on Mechatronics. 2018. Vol. 24, num. 1, p. 16-24. DOI : 10.1109/TMECH.2018.2878621.
A reconfigurable interactive interface for controlling robotic origami in virtual environments
J-L. Huang; Z. Zhakypov; H. A. Sonar; J. Paik
The International Journal of Robotics Research. 2018-05-02. Vol. 37, num. 6, p. 629-647. DOI : 10.1177/0278364918769157.
Design Methodology for Constructing Multimaterial Origami Robots and Machines
IEEE Transactions on Robotics. 2018. Vol. 34, num. 1, p. 151-165. DOI : 10.1109/TRO.2017.2775655.
Conference Papers
Towards Peak Torque Minimization for Modular Self-folding Robots
M. Yao; H. Cui; X. Xiao; C. H. Belke; J. Paik
2018-01-01. 25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, SPAIN, Oct 01-05, 2018. p. 7975-7982. DOI : 10.1109/IROS.2018.8593648.
Strain Sensor-Embedded Soft Pneumatic Actuators for Extension and Bending Feedback
M. C-S. Yuen; R-B. Kramer; J. Paik
2018-04-28. IEEE RAS International Conference on Soft Robotics (RoboSoft), Livorno, Italy, April 24-28, 2018. p. 202-207. DOI : 10.1109/ROBOSOFT.2018.8404920.
Modeling Vacuum Bellows Soft Pneumatic Actuators with Optimal Mechanical Performance
W. M. Felt; M. A. Robertson; J. Paik
2018. Soft Robotics (RoboSoft 2018), 2018 IEEE-RAS International Conference on, Livorno, Italy, April 24-28, 2018. p. 534-540. DOI : 10.1109/ROBOSOFT.2018.8405381.
Low-inertia vacuum-powered soft pneumatic actuator coil characterization and design methodology
2018. RoboSoft, Livorno, Italy, April 24-28, 2018. DOI : 10.1109/ROBOSOFT.2018.8405364.
An Any-Resolution Distributed Pressure Localization Scheme Using a Capacitive Soft Sensor Skin
H. A. Sonar; M. C-S. Yuen; R. Kramer-Bottiglio; J. Paik
2018-04-28. IEEE RAS International Conference on Soft Robotics (RoboSoft), Palazzo Pancaldi, Livorno, Italy, April 24-28, 2018. p. 170-175. DOI : 10.1109/ROBOSOFT.2018.8404915.
Reviews
Soft robot design methodology for ‘push-button’ manufacturing
Nature Reviews Materials. 2018-05-04. Vol. 3, p. 81–83. DOI : 10.1038/s41578-018-0014-y.
Posters
Parametric study of Pneumatic Circuit Model for Powering and Controlling Soft Pneumatic Actuators
IEEE International Conference on Soft Robotics (RoboSoft), Livorno, Italy, Apr 24 – 28, 2018.
Patents
A planar pop-up actuator device with embedded electro-magnetic actuation
M. Salerno; A. Firouzeh; J. Paik; S. Mintchev
US11728081; US2021287836; EP3494630; WO2018025241; WO2018025241; US2018038461. 2018.
Planar pop-up actuator device with embedded electro-magnetic actuation
M. Salerno; A. Firouzeh; J. Paik
US11728081; US2021287836; EP3494630; WO2018025241; WO2018025241; US2018038461. 2018.
A soft portable wearable pneumatic interactive suit
H. A. Sonar; M. A. Robertson; S. D. Joshi; T. Bhatnagar; J. Paik
US11458067; EP3631395; EP3631395; US2020093679; KR20200019636; WO2018220596; WO2018220596. 2018.
2017
Journal Articles
Will robots be bodies with brains or brains with bodies?
Y. Mengüç; N. Correll; R. Kramer; J. Paik
Science Robotics. 2017. Vol. 2, num. 12, p. eaar4527. DOI : 10.1126/scirobotics.aar4527.
Design and Computational Modeling of a Modular, Compliant Robotic Assembly for Human Lumbar Unit and Spinal Cord Assistance
G. Agarwal; M. A. Robertson; H. A. Sonar; J. Paik
Scientific Reports. 2017. Vol. 7, p. 14391. DOI : 10.1038/s41598-017-14220-3.
JammJoint: A Variable Stiffness Device Based on Granular Jamming for Wearable Joint Support
S. Hauser; M. A. Robertson; A. Ijspeert; J. Paik
IEEE Robotics and Automation Letters. 2017. Vol. 2, num. 2, p. 849-855. DOI : 10.1109/LRA.2017.2655109.
Conference Papers
Soft actuation and sensing towards robot-assisted facial rehabilitation
2017. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada, September 24-28, 2017. p. 306-313. DOI : 10.1109/IROS.2017.8202173.
Practical control methods for vacuum driven soft actuator modules
2017. IEEE International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, September 24-28. DOI : 10.1109/IROS.2017.8202296.
The Design of A New Rotary Hexapod with A Single Active Degree of Freedom
A. Fomin; V. Glazunov; V. Didenko; J. Paik
2017. 5th IFToMM International Symposium on Robotics & Mechatronics (ISRM2017), Sydney, Australia, 29th November – 1st December, 2017.
Posters
Interactive soft pneumatic actuator skin
H. A. Sonar; S. D. Joshi; M. A. Robertson; J. Paik
IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, BC, Canada, September 24–28, 2017.
Talks
A low-cost, actuated passive dynamic walker kit for accessible research and education
M. A. Robertson; J. Paik; A. Ijspeert; A. Wu
Dynamic Walking Conference, Mariehamn, Finland, June 4-9, 2017.