3rd IEEE International Conference on Soft Robotics April 6-9, 2020 at Yale University, USA

2020 3rd IEEE International Conference on Soft Robotics (RoboSoft)
May 15 - July 15, 2020, Yale University, USA

Program at a Glance    Tuesday    Wednesday    Thursday    Author Index    Keyword Index  

Last updated on May 6, 2020. This conference program is tentative and subject to change

Technical Program for Wednesday April 8, 2020

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WePS E1+2+3+4
Poster Session 2 Interactive
Chair: Cianchetti, MatteoScuola Superiore Sant'Anna
09:45-09:46, Paper WePS.1 
Evaluation of a Circumferential Extending Antagonist Actuator in a Soft Arm

Asselmeier, MaxwellUniversity of Illinois at Urbana-Champaign
Hatton, RossOregon State University
Menguc, YigitOregon State University
Olson, GinaOregon State University
09:46-09:47, Paper WePS.2 
Closed-Form Non-Singular Constant-Curvature Continuum Manipulator Kinematics

Allen, ThiomasOpenSpace
Rupert, LeviBrigham Young University
Duggan, Timothy R.Otherlab
Hein, GabrielPneubotics
Albert, KevinPneubotics
09:47-09:48, Paper WePS.3 
Soft Robot Control with a Learned Differentiable Model

Bern, JamesETH Zurich
Schnider, YannickETH Zurich
Banzet, PolEPFL
Kumar, NitishComputational Robotics Lab, Institute for Intelligent Interactiv
Coros, StelianCarnegie Mellon University
09:48-09:49, Paper WePS.4 
Coordinated Soft Robot Multi-Arm Manipulation

Kraus, DustanBrigham Young University
Jensen, AlexBrigham Young University
Killpack, MarcBrigham Young University
09:49-09:50, Paper WePS.5 
New Soft Robot Hand Configuration with Combined Biotensegrity and Thin Artificial Muscle

Li, WenyungTokyo Institute of Technology
Nabae, HiroyukiTokyo Institute of Technology
Endo, GenTokyo Institute of Technology
Suzumori, KoichiTokyo Institute of Technology
09:50-09:51, Paper WePS.6 
A Novel Soft Glove for Hand Tremor Suppression: Evaluation of Layer Jamming Actuator Placement

Vithanage, Isira AwanthaUniversity of Moratuwa
Wanasinghe, Ashan ThariduUniversity of Moratuwa
Kavindya, PasinduDepartment of Mechanical Engineering, University of Moratuwa
Kulasekera, Asitha LakruwanDepartment of Mechanical Engineering, University of Moratuwa
Chathuranga, Damith SureshUniversity of Moratuwa
09:51-09:52, Paper WePS.7 
Position Control of a 3D Printed Soft Finger with Integrated Soft Pneumatic Sensing Chambers

Tawk, CharbelUniversity of Wollongong
Sariyildiz, EmreUniversity of Wollongong
Zhou, HaoUniversity of Wollongong
in het Panhuis, MarcUniversity of Wollongong
Spinks, Geoffrey M.University of Wollongong
Alici, GurselUniversity of Wollongong
09:52-09:53, Paper WePS.8 
A Petal-Array Capacitive Tactile Sensor with Micro-Pin for Robotic Fingertip Sensing

Fang, BinTsinghua University
Chen, YangTsinghua University
Sun, FuchunDepartment of Computer Science and Technology, Tsinghua Universi
Yang, DongChaoTsinghua University
Zhang, XuChinese Academy of Sciences
Xia, ZiweiChina University of Geosciences(Beijing)
Liu, HuapingTsinghua University
09:53-09:54, Paper WePS.9 
A 3D Printed Soft Force Sensor for Soft Haptics

Singh, DilpreetUniversity of Wollongong
Tawk, CharbelUniversity of Wollongong
Mutlu, RahimUniversity of Wollongong
Sariyildiz, EmreUniversity of Wollongong
Sencadas, VitorSchool of Mechanical, Materials and Mechatronics and Biomedical
Alici, GurselUniversity of Wollongong
09:54-09:55, Paper WePS.10 
Towards Design of a Deformable Propeller for Drone Safety

Nguyen, DinhJapan Advanced Institute of Science and Technology
Loianno, GiuseppeNew York University
Ho, VanJapan Advanced Institute of Science and Technology
09:55-09:56, Paper WePS.11 
Analysis and Optimization of Fully Foam-Based Capacitive Sensors

Totaro, MassimoIstituto Italiano Di Tecnologia
Bernardeschi, IreneIstituto Italiano Di Tecnologia
Wang, HongboIstituto Italiano Di Tecnologia
Beccai, LuciaCenter for Micro-BioRobotics
09:56-09:57, Paper WePS.12 
A Tendon-Driven, Preloaded, Pneumatically Actuated, Soft Robotic Gripper with a Telescopic Palm

Meng, JiaweiThe University of Auckland
Gerez, LucasThe University of Auckland
Chapman, JaydenThe University of Auckland
Liarokapis, MinasThe University of Auckland
09:57-09:58, Paper WePS.13 
Instant Soft Robot: A Simple Recipe for Quick and Easy Manufacturing

Fras, JanQueen Mary University of London
Główka, JakubIndustrial Research Institute for Automation and Measurements
Althoefer, KasparQueen Mary University of London
09:58-09:59, Paper WePS.14 
Investigating the Mechanics of Human-Centered Soft Robotic Actuators with Finite Element Analysis

Buffinton, KeithBucknell University
Wheatley, BenjaminBucknell University
Habibian, SoheilBucknell University
Shin, JoonBucknell University
Cenci, BrielleJohns Hopkins Center for Bioengineering Innovation and Design
Christy, AmandaBucknell University
09:59-10:00, Paper WePS.15 
Continuous Control of a Soft Continuum Arm Using Deep Reinforcement Learning

Satheeshbabu, SreeshankarUniversity of Illinois Urbana Champaign
Uppalapati, Naveen KumarUniversity of Illinois at Urbana-Champaign
Fu, TianshiUniversity of Illinois at Urbana-Champaign
Krishnan, GirishUniversity of Illinois Urbana Champaign
10:00-10:01, Paper WePS.16 
Pneumatic Soft Actuator Using Self-Excitation Based on Automatic-Jet-Switching-Structure

Tani, KosukeTokyo Institute of Technology
Nabae, HiroyukiTokyo Institute of Technology
Endo, GenTokyo Institute of Technology
Suzumori, KoichiTokyo Institute of Technology
10:01-10:02, Paper WePS.17 
Miniature Modular Legged Robot with Compliant Backbones

Mahkam, NimaBilkent University
Bakir, AlihanBilkent University
Ozcan, OnurBilkent University
10:02-10:03, Paper WePS.18 
Design and Modeling of a High Force Soft Actuator for Assisted Elbow Flexion

Ang, Benjamin, Wee KeongNational University of Singapore
Yeow, Chen-HuaNational University of Singapore
10:03-10:04, Paper WePS.19 
Passive, Reflex Response Units for Reactive Soft Robotic Systems

Partridge, Alix JamesUniversity of Bristol
Conn, AndrewUniversity of Bristol
10:04-10:05, Paper WePS.20 
Enabling Actuation and Sensing in Organs-On-Chip Using Electroactive Polymers

Motreuil Ragot, PaulDelft University of Technology
Hunt, AndresDelft University of Technology
Kasi, DhaneshLeiden University Medical Center
Brajon, BrunoDelft University of Technology
van den Maagdenberg, Arn M. J. M.Leiden University Medical Center
Orlova, ValeriaLeiden University Medical Center
Mastrangeli, MassimoDelft University of Technology
Sarro, Pasqualina M.Delft University of Technology
10:05-10:06, Paper WePS.21 
Analyzing the Effect of Soft Arm Design on Obstacle Navigation through Collision

Rafter, AbigailOregon State University
Hollinger, GeoffreyOregon State University
Menguc, YigitOregon State University
Olson, GinaOregon State University
10:06-10:07, Paper WePS.22 
Image-Based Approach to Reconstruct Curling in Continuum Structures

Fan, JieIstituto Italiano Di Tecnologia
Del Dottore, EmanuelaIstituto Italiano Di Tecnologia
Visentin, FrancescoIstituto Italiano Di Tecnologia
Mazzolai, BarbaraIstituto Italiano Di Tecnologia
10:07-10:08, Paper WePS.23 
Soft Foot Sensor Design and Terrain Classification for Dynamic Legged Locomotion

Guo, XiaofengGeorgia Institute of Technology
Blaise, BryanGeorgia Institute of Technology
Molnar, JenniferGeorgia Institute of Technology
Coholich, JeremiahGeorgia Institute of Technology
Padte, ShantanuGeorgia Institute of Technology
Zhao, YeGeorgia Institute of Technology
Hammond III, Frank L.Georgia Institute of Technology
10:08-10:09, Paper WePS.24 
Compliance-Tuning Soft Inflatable Wheels for Robot Mobility on Various Terrains

Almusa, AbdulazizCarnegie Mellon University
Galeza, RaymondCarnegie Mellon University
Wang, MingyueCarnegie Mellon University
Majidi, CarmelCarnegie Mellon University
10:09-10:10, Paper WePS.25 
Simulation-Ready Characterization of Soft Robotic Materials

Schumacher, ChristianDisney Research
Knoop, EspenThe Walt Disney Company
Bächer, MoritzDisney Research
10:10-10:11, Paper WePS.26 
Scalable Tactile Sensing for an Omni-Adaptive Soft Robot Finger

Yang, ZeyiSouthern University of Science and Technology
Ge, ShengSouthern University of Science and Technology
Wan, FangAncora Spring Inc
Liu, YujiaSouthern University of Science and Technology
Song, ChaoyangSouthern University of Science and Technology
10:11-10:12, Paper WePS.27 
Hybrid Soft-Rigid Foot with Dry Adhesive Material Designed for a Gecko-Inspired Climbing Robot

Shao, DonghaoNanjing University of Aeronautics and Astronautics
Chen, JianNanjing University of Aeronautics and Astronautics
Ji, AihongNanjing University of Aeronautics Ans Astronautics
Dai, ZhendongNanjing University of Aeronautics and Astronautics
Manoonpong, PoramateNanjing University of Aeronautics and Astronautics
10:12-10:13, Paper WePS.28 
Soft Variable Stiffness Joints for Controllable Grasp Synergies in Underactuated Robotic Hands

Fox, ElizabethGeorgia Institute of Technology
Hammond III, Frank L.Georgia Institute of Technology
10:13-10:14, Paper WePS.29 
Dynamic Modeling and Joint Design of a Cable Driven Soft Gripper

Honji, SumitakaKyushu University
Tahara, KenjiKyushu University
10:14-10:15, Paper WePS.30 
Robotic Cane As a Soft SuperLimb for Elderly Sit-To-Stand Assistance

Wu, XiaSouthern University of Science and Technology
Liu, HaiyuanSouthern University of Science and Technology
Liu, ZiqiSouthern University of Science and Technology
Chen, MingdongSouthern University of Science and Technology
Wan, FangAncora Spring Inc
Fu, ChenglongSouthern University of Science and Technology
Asada, HarryMIT
Wang, ZhengThe University of Hong Kong
Song, ChaoyangSouthern University of Science and Technology
10:15-10:16, Paper WePS.31 
Optimization of a Soft Robotic Bladder Array for Dissipating High Impact Loads: An Initial Study in Designing a Smart Helmet

Aston, JonathanUniversity of Utah
Benko, NikolausUniversity of Utah
Truong, TakaraUniversity of Utah
Mohd Zaki, Alia bintiUniversity of Utah
Olsen, NathanielUniversity of Utah
Eshete, EbsaUniversity of Utah
Luttmer, NathanielUniversity of Utah
Coats, BrittanyUniversity of Utah
Minor, MarkUniversity of Utah
10:16-10:17, Paper WePS.32 
Towards an Untethered Knit Fabric Soft Continuum Robotic Module with Embedded Fabric Sensing

Pham, Huy NguyenArizona State University
Qiao, ZhiASU
Seidel, SamUniversity
Amatya, SunnyARIZONA State University
Mohd, Imran Irfan BinArizona State University
Zhang, WenlongArizona State University
10:17-10:18, Paper WePS.33 
Design of High Torque Variable Stiffness Actuator with Fast Adjustment and Wide Range of Stiffness Using Lever and Parallel Mechanism

Shin, HirofumiHonda R&D Co., Ltd
Ishikawa, TetsuyaHonda R&D Co., Ltd
Kamioka, TakumiHonda R&D Co., Ltd
Yamaguchi, RyoHonda R&D Co., Ltd
Fu, ChunjiangHonda R&D Co-Research Lab
Yoshiike, TakahideHonda Research Institute Japan
10:18-10:19, Paper WePS.34 
Design of Pneumatic Origami Muscle Actuators (POMAs) for a Soft Robotic Hand Orthosis for Grasping Assistance

Hong, Tae HwaSeoul National University
Park, Se-HunSeoul National University
Park, Ji-HongSeoul National University Bundang Hospital
Paik, Nam-JongSeoul National University Bundang Hospital
Park, Yong-LaeSeoul National University
WeAT1 E1+2+3+4
Modeling, Control, and Learning for Soft Robots 1 Oral
Chair: Perez-Arancibia, Nestor OUniversity of Southern California (USC)
11:00-11:20, Paper WeAT1.1 
A Computational Design Framework for Pressure-Driven Soft Robots through Nonlinear Topology Optimization

Caasenbrood, BrandonEindhoven University of Technology
Pogromsky, AlexanderTUE
Nijmeijer, HendrikEindhoven University of Technology
11:20-11:35, Paper WeAT1.2 
Efficient Bayesian Exploration for Soft Morphology-Action Co-Optimization

Scimeca, LucaUniversity of Cambridge
Maiolino, PerlaUniversity of Oxford
Iida, FumiyaUniversity of Cambridge
11:35-11:50, Paper WeAT1.3 
Identification and Control of a Nonlinear Soft Actuator and Sensor System

Johnson, BrianUniversity of Colorado Boulder
Sundaram, VaniUniversity of Colorado Boulder
Naris, MantasUniversity of Colorado Boulder
Acome, EricUniversity of Colorado Boulder
Ly, Khoi DangUniversity of Colorado
Correll, NikolausUniversity of Colorado at Boulder
Keplinger, ChristophUniversity of Colorado
Humbert, James SeanUniversity of Colorado Boulder
Rentschler, MarkUniversity of Colorado at Boulder
11:50-12:05, Paper WeAT1.4 
To Grasp or Not to Grasp: An End-To-End Deep-Learning Approach for Predicting Grasping Failures in Soft Hands

Arapi, VisarCentro E. Piaggio
Yujie, ZhangCentro E. Piaggio
Averta, GiuseppeUniversity of Pisa
Catalano, Manuel GiuseppeIstituto Italiano Di Tecnologia
Rus, DanielaMIT
Della Santina, CosimoMassachusetts Institute of Technology
Bianchi, MatteoUniversity of Pisa
WeAT2 E6
Soft Sensors and Actuators Oral
Chair: Kovac, MirkoImperial College London
11:00-11:20, Paper WeAT2.1 
Closing the Loop with Liquid-Metal Sensing Skin for Autonomous Soft Robot Gripping

Yin, JessicaCarnegie Mellon University
Hellebrekers, TessCarnegie Mellon University
Majidi, CarmelCarnegie Mellon University
11:20-11:35, Paper WeAT2.2 
Nonlinearity Compensation in a Multi-DoF Shoulder Sensing Exosuit for Real-Time Teleoperation

Varghese, Rejin JohnImperial College London
Nguyen, AnhImperial College London
Burdet, EtienneImperial College London
Yang, Guang-ZhongShanghai Jiao Tong University
Lo, Benny Ping LaiImperial College London
11:35-11:50, Paper WeAT2.3 
Self-Sintering Liquid Metal Colloidal Inks for Facile Manufacture of Stretchable Conductors

Yuen, Michelle Ching-SumAir Force Research Laboratory
Creighton, Megan A.Air Force Research Laboratory
Tabor, Christopher E.Air Force Research Laboratory
11:50-12:05, Paper WeAT2.4 
Soft Inductive Tactile Sensor Using Flow-Channel Enclosing Liquid Metal

Hamaguchi, ShotaMie University
Kawasetsu, TakumiThe University of Tokyo
Horii, TakatoOsaka University
Ishihara, HisashiOsaka University
Niiyama, RyumaUniversity of Tokyo
Hosoda, KohOsaka University
Asada, MinoruOpen and Transdisciplinary Research Initiatives, Osaka Universit
WeBT1 E1+2+3+4
Modeling, Control, and Learning for Soft Robots 2 Oral
15:25-15:45, Paper WeBT1.1 
Discretized Modeling of Planar Pneumatic Continuum Manipulators

Skorina, ErikWorcester Polytechnic Institute
Onal, CagdasWPI
15:45-16:00, Paper WeBT1.2 
Dynamic Modeling of a Hydrogel-Based Continuum Robotic Arm with Experimental Validation

Doroudchi, AzadehArizona State University
Khodambashi Emami, RoozbehArizona State University
Salimi Lafmejani, AmirArizona State University
Aukes, DanielArizona State University
Berman, SpringArizona State University
16:00-16:15, Paper WeBT1.3 
Electronics-Free Pneumatic Logic Circuits for Localized Feedback Control of Multi-Actuator Soft Robots

Perez-Arancibia, Nestor OUniversity of Southern California (USC)
16:15-16:30, Paper WeBT1.4 
Emulating a Sensor Using Soft Material Dynamics: A Reservoir Computing Approach to Pneumatic Artificial Muscle

Sakurai, RyoBridgestone Corporation
Nishida, MistuhiroBridgestone
Hideyuki, SakuraiBridgestone Corporation
Wakao, YasumichiBridgestone Corporation
Akashi, NozomiUniversity of Tokyo
Kuniyoshi, YasuoThe University of Tokyo
Minami, YunaUniversity of Tokyo
Nakajima, KoheiUniversity of Tokyo
16:30-16:45, Paper WeBT1.5 
Ramus: A Frequency-Multiplexed Power Bus for Powering, Sensing and Controlling Robots

Nishizawa, YukiThe University of Tokyo
Sasatani, TakuyaThe University of Tokyo
Ishige, MatthewThe University of Tokyo
Narusue, YoshiakiThe University of Tokyo
Umedachi, TakuyaThe University of Tokyo
Kawahara, YoshihiroThe University of Tokyo
WeBT2 E6
Grasping/Manipulators Oral
Chair: Tadokoro, SatoshiTohoku University
15:25-15:45, Paper WeBT2.1 
A Geometric Variable-Strain Approach for Static Modeling of Soft Manipulators with Tendon and Fluidic Actuation

Renda, FedericoKhalifa University of Science and Technology
Armanini, CostanzaKhalifa University
Lebastard, VincentIMT Atlantique
Candelier, FabienUniversité Aix Marseille
Boyer, FrédéricEcole Des Mines De Nantes
15:45-16:00, Paper WeBT2.2 
Extensible High Force Manipulator for Complex Exploration

Hughes, JosieMIT
Della Santina, CosimoMassachusetts Institute of Technology
Rus, DanielaMIT
16:00-16:15, Paper WeBT2.3 
Fire-Resistant Deformable Soft Gripper Based on Wire Jamming Mechanism

Tadakuma, KenjiroTohoku University
Fujimoto, ToshiakiTohoku University
Watanabe, MasahiroTohoku University
Shimizu, ToriTohoku University
Takane, EriTohoku University
Konyo, MasashiTohoku University
Tadokoro, SatoshiTohoku University
16:15-16:30, Paper WeBT2.4 
Mechanically Strengthened Electroadhesion Based Soft Gripper with Multi-Layered Dielectric Elastomer Actuator

Hwang, GeonwooKorea Advanced Institute of Science and Technology
Park, JihwanKAIST
Diaz Cortes, David SantiagoKorea Advanced Institute of Science and Technology
Kyung, Ki-UkKorea Advanced Institute of Science & Technology (KAIST)
16:30-16:45, Paper WeBT2.5 
Reconfigurable Design for Omni-Adaptive Grasp Learning

Wan, FangAncora Spring Inc
Wang, HaokunSouthern University of Science and Technology
Wu, JiyuanSouthern University of Science and Technology
Liu, YujiaSouthern University of Science and Technology
Ge, ShengSouthern University of Science and Technology
Song, ChaoyangSouthern University of Science and Technology




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