Designing accurate and real time sensing systems for continuum robots is difficult because of their high degrees of freedom. This paper...

In this paper we propose a novel design for a lightweight and compact tunable stiffness actuator capable of stiffness changes up to 20x....

By the end of this project, the robot was able to complete all six of the defined objectives: localize the robot in the world, drive...

This final project was the culmination of the WPI RBE3001 course and exhibited applications of position/velocity forward and inverse...

This paper introduces a cost-effective and high speed approach for predicting a 2-DOF bend parameterization for soft bodies through a...

This project combined the need of realistic CAD models for custom manufacturing and simulation to produce a product that ran on ROS. The...