Biomimetics and Dextrous Manipulation Lab


Welcome to the Biomimetics and Dexterous Manipulation Lab! This website is primarily intended as a shared electronic notebook for BDML members. Visitors are welcome to peruse the public pages.                     BDML Twitter, BDML YouTube, Lab News

Current Projects

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Our Project?: Put a sentence or two about your project here.

Adhesion and Applications: Grasping and climbing vertical surfaces with gecko-inspired controllable, directional dry adhesives. Research includes crawling and climbing robots (and people), new adhesives and manufacturing methods, and new applications such as UAV perching, space junk grasping and manipulation in space.

Mobile Manipulation

Mobile Manipulation: Research includes underwater hand and grasp analysis and tactile sensing for hands and feet.

Multi-limbed climbing also involves grasping surfaces and manipulating the robot's own body. To be uncommented with these pages are ready Adhesive manipulation is also useful for free-fliers in space and for manufacturing applications.

Medical Robotics

MR compatible tools: Optical fibers are embedded in biopsy needles used for MRI interventions to provide realtime measurement of bending deflections and tip forces. This information is useful for MRGuidedManipulation.

Smart graspers for MIS and RAS: Slip sensing is implemented into graspers for use in minimally invasive surgery (MIS) and robot-assisted surgery (RAS). The goal is to enable atraumatic, efficient, and reliable grasping.

Multi-Modal Robots: Bio-inspired robots that can transition between various kinds of locomotion, from jumping to flying to climbing vertical walls using adhesives and microspines. This has grown out of our efforts in both Fixed Wing Perching and Quadrotor Perching, as well as our JumpGliding project.

Automotive Haptics

Automotive Haptics: haptic feedback (skin stretch) implemented in the car to communicate information related to navigation, safety, road conditions, and autonomous functionality. Related to previous work in Wearable Haptics: feedback for altering dynamic motions such as jogging or walking, to reduce the chance of injury or delay the progression of osteoarthritis.

Tunable Spring

Tunable compliance and damping: structures based on electroactive polymer actuators with electrically-tunable stiffness and damping properties for use in dynamic systems. Projects include control of damping through electrical boundary conditions and control of stiffness through design geometry and electrical activation as well as applications to the perching UAV.

Manufacturing and Prototyping: manufacturing and prototyping methods are an important part of what we do for all our other projects. These pages collect information about some of the processes, equipment and materials we work with

Previous Projects

Human-safe and human-centered robotics: design tools and methods to mitigate impact damage during unintended human-robot interactions. Projects include collaboration with Prof. Oussama Khatib in the Computer Science Department on the Stanford Safety Robot, incorporation of capacitive skin sensors into robotic platforms for collision detection and post impact behaviors.

Stroke Rehabilitation: We seek to optimize metrics for stroke recovery and understand the effects of proprioceptive deficit and augmentation on motor control. We are currently designing experimentation to characterize the effects of sensory deficits on single-joint motor control and developing unobtrusive wearable devices to augment clinical functional tests and ultimately provide a take-home therapeutic device to improve functional outcomes.

Older projects are described on the Previous BDML Wiki System

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Page last modified on January 09, 2020, at 12:08 PM