Compliant and soft robotics

1) Compliant and soft mechatronics design

Variable Lever Mechanism (VLM) probe for medical palpation; BirthSIM a risk-free childbirth training simulator; Hyperelastic Ballooning Membrane Actuator (HBMA)

Funders and Collaborators

  • Childbirth simulator for risk-free forceps delivery training:
    Compliant actuation for better haptic rendering
    Hybrid electro-pneumatic/electro-mechanic robot
  • A variable stiffness probe for hard nodule detection in soft tissues:
    Variable stiffness mechanism design
    Bi-modal Tactile & Kinesthetic sensing
  • Hyperelastic Ballooning Membrane Actuator for robotic implants and tissue repair:
    Hybrid soft-rigid actuator
    High power to weight ratio
  • Publications:
    L. He, N Herzig et al., "An Abdominal Phantom With Tunable Stiffness Nodules and Force Sensing Capability for Palpation Training," in IEEE Transactions on Robotics, DOI: 10.1109/TRO.2020.3043717.
    N. Herzig, P. Maiolino, F. Iida and T. Nanayakkara, "A Variable Stiffness Robotic Probe for Soft Tissue Palpation," in IEEE Robotics and Automation Letters, vol. 3, no. 2, pp. 1168-1175, April 2018, DOI: 10.1109/LRA.2018.2793961
    N. Herzig, R. Moreau and T. Redarce, "A new design for the BirthSIM simulator to improve realism," 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Chicago, IL, USA, 2014, pp. 2065-2068, DOI: 10.1109/EMBC.2014.6944022.

2) Modeling of Compliant & Soft systems

HBMA model and simulations; VLM probe Finite Element model