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222 results (View BibTeX file of all listed publications)

2023

Hydraulically Amplified Self-healing Electrostatic Actuators
Hydraulically Amplified Self-healing Electrostatic Actuators

Keplinger, C. M., Acome, E. L., Kellaris, N. A., Mitchell, S. K.

(US Patent 11795979B2), October 2023 (patent)

Abstract
An electro-hydraulic actuator includes a deformable shell defining an enclosed internal cavity and containing a liquid dielectric, first and second electrodes on first and second sides, respectively, of the enclosed internal cavity. An electrostatic force between the first and second electrodes upon application of a voltage to one of the electrodes draws the electrodes towards each other to displace the liquid dielectric within the enclosed internal cavity. The shell includes active and inactive areas such that the electrostatic forces between the first and second electrodes displaces the liquid dielectric within the enclosed internal cavity from the active area of the shell to the inactive area of the shell. The first and second electrodes, the deformable shell, and the liquid dielectric cooperate to form a self-healing capacitor, and the liquid dielectric is configured for automatically filling breaches in the liquid dielectric resulting from dielectric breakdown.

rm

link (url) [BibTex]

2023

rm Keplinger, C. M., Acome, E. L., Kellaris, N. A., Mitchell, S. K. Hydraulically Amplified Self-healing Electrostatic Actuators (US Patent 11795979B2), October 2023 (patent)

link (url) [BibTex]

High Strain Peano Hydraulically Amplified Self-Healing Electrostatic (HASEL) Transducers
High Strain Peano Hydraulically Amplified Self-Healing Electrostatic (HASEL) Transducers

Keplinger, C. M., Wang, X., Mitchell, S. K.

(US Patent App. 18/138,621), August 2023 (patent)

Abstract
High strain hydraulically amplified self-healing electrostatic transducers having increased maximum theoretical and practical strains are disclosed. In particular, the actuators include electrode configurations having a zipping front created by the attraction of the electrodes that is configured orthogonally to a strain axis along which the actuators. This configuration produces increased strains. In turn, various form factors for the actuator configuration are presented including an artificial circular muscle and a strain amplifying pulley system. Other actuator configurations are contemplated that include independent and opposed electrode pairs to create cyclic activation, hybrid electrode configurations, and use of strain limiting layers for controlled deflection of the actuator.

rm

link (url) [BibTex]

Capacitive Self-Sensing for Electrostatic Transducers with High Voltage Isolation
Capacitive Self-Sensing for Electrostatic Transducers with High Voltage Isolation

Correll, N., Ly, K. D., Kellaris, N. A., Keplinger, C. M.

(US Patent App. 17/928,453), June 2023 (patent)

Abstract
Transducer systems disclosed herein include self-sensing capabilities. In particular, electrostatic transducers include a low voltage electrode and a high voltage electrode. A low voltage sensing unit is coupled with the low voltage electrode of the electrostatic transducer. The low voltage sensing unit is configured to measure a capacitance of the electrostatic transducer, from which displacement of the electrostatic transducer may be calculated. High voltage drive signals received by the high voltage electrode during actuation may be isolated from the low voltage sensing unit. The isolation may be provided by dielectric material of the electrostatic transducer, a voltage suppression component, and/or a voltage suppression module comprising a low impedance ground path. In the event of an electrical failure of the transducer, the low voltage sensing unit may be isolated from high voltages.

rm

link (url) [BibTex]

rm Correll, N., Ly, K. D., Kellaris, N. A., Keplinger, C. M. Capacitive Self-Sensing for Electrostatic Transducers with High Voltage Isolation (US Patent App. 17/928,453), June 2023 (patent)

link (url) [BibTex]

High Strain Peano Hydraulically Amplified Self-healing Electrostatic (HASEL) Transducers
High Strain Peano Hydraulically Amplified Self-healing Electrostatic (HASEL) Transducers

Keplinger, C. M., Wang, X., Mitchell, S. K.

(US Patent 11635094), April 2023 (patent)

Abstract
High strain hydraulically amplified self-healing electrostatic transducers having increased maximum theoretical and practical strains are disclosed. In particular, the actuators include electrode configurations having a zipping front created by the attraction of the electrodes that is configured orthogonally to a strain axis along which the actuators. This configuration produces increased strains. In turn, various form factors for the actuator configuration are presented including an artificial circular muscle and a strain amplifying pulley system. Other actuator configurations are contemplated that include independent and opposed electrode pairs to create cyclic activation, hybrid electrode configurations, and use of strain limiting layers for controlled deflection of the actuator.

rm

link (url) [BibTex]

An Open-Source Modular Treadmill for Dynamic Force Measurement with Load Dependant Range Adjustment
An Open-Source Modular Treadmill for Dynamic Force Measurement with Load Dependant Range Adjustment

Sarvestani, A., Ruppert, F., Badri-Spröwitz, A.

2023 (unpublished) Submitted

Abstract
Ground reaction force sensing is one of the key components of gait analysis in legged locomotion research. To measure continuous force data during locomotion, we present a novel compound instrumented treadmill design. The treadmill is 1.7 m long, with a natural frequency of 170 Hz and an adjustable range that can be used for humans and small robots alike. Here, we present the treadmill’s design methodology and characterize it in its natural frequency, noise behavior and real-life performance. Additionally, we apply an ISO 376 norm conform calibration procedure for all spatial force directions and center of pressure position. We achieve a force accuracy of ≤ 5.6 N for the ground reaction forces and ≤ 13 mm in center of pressure position.

dlg

arXiv link (url) DOI [BibTex]

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Microfibers with mushroom-shaped tips for optimal adhesion

Sitti, M., Aksak, B.

2023, US Patent 11,613,674 (patent)

pi

[BibTex]

pi Sitti, M., Aksak, B. Microfibers with mushroom-shaped tips for optimal adhesion 2023, US Patent 11,613,674 (patent)

[BibTex]

Magnetic trap system and method of navigating a microscopic device
Magnetic trap system and method of navigating a microscopic device

Son, D., Ugurlu, M., Bluemer, P., Sitti, M.

2023, US Patent App. 17/871,598 (patent)

pi

[BibTex]

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Dry adhesives and methods for making dry adhesives

M Sitti, M. M. B. A.

2023, US Patent 11,773,298, 2023 (patent)

pi

[BibTex]

2022

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Proceedings of the Second Workshop on NLP for Positive Impact (NLP4PI)

Biester, L., Demszky, D., Jin, Z., Sachan, M., Tetreault, J., Wilson, S., Xiao, L., Zhao, J.

Association for Computational Linguistics, December 2022 (proceedings)

ei

link (url) [BibTex]

2022

ei Biester, L., Demszky, D., Jin, Z., Sachan, M., Tetreault, J., Wilson, S., Xiao, L., Zhao, J. Proceedings of the Second Workshop on NLP for Positive Impact (NLP4PI) Association for Computational Linguistics, December 2022 (proceedings)

link (url) [BibTex]

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DRY ADHESIVES AND METHODS FOR MAKING DRY ADHESIVES

Metin Sitti, Michael Murphy, Burak Aksak

December 2022, US Patent App. 17/895,334, 2022 (patent)

pi

[BibTex]

pi Metin Sitti, Michael Murphy, Burak Aksak DRY ADHESIVES AND METHODS FOR MAKING DRY ADHESIVES December 2022, US Patent App. 17/895,334, 2022 (patent)

[BibTex]

Hydraulically Amplified Self-healing Electrostatic Transducers Harnessing Zipping Mechanism
Hydraulically Amplified Self-healing Electrostatic Transducers Harnessing Zipping Mechanism

Keplinger, C. M., Acome, E. L., Kellaris, N. A., Mitchell, S. K., Morrissey, T. G.

(US Patent 11486421B2), November 2022 (patent)

Abstract
Hydraulically-amplified, self-healing, electrostatic transducers that harness electrostatic and hydraulic forces to achieve various actuation modes. Electrostatic forces between electrode pairs of the transducers generated upon application of a voltage to the electrode pairs draws the electrodes in each pair towards each other to displace a liquid dielectric contained within an enclosed internal cavity of the transducers to drive actuation in various manners. The electrodes and the liquid dielectric form a self-healing capacitor whereby the liquid dielectric automatically fills breaches in the liquid dielectric resulting from dielectric breakdown. Due to the resting shape of the cavity, a zipping-mechanism allows for selectively actuating the electrodes to a desired extent by controlling the voltage supplied.

rm

link (url) [BibTex]

rm Keplinger, C. M., Acome, E. L., Kellaris, N. A., Mitchell, S. K., Morrissey, T. G. Hydraulically Amplified Self-healing Electrostatic Transducers Harnessing Zipping Mechanism (US Patent 11486421B2), November 2022 (patent)

link (url) [BibTex]

Hydraulically Amplified Self-Healing Electrostatic (HASEL) Pumps
Hydraulically Amplified Self-Healing Electrostatic (HASEL) Pumps

Mitchell, S. K., Acome, E. L., Keplinger, C. M.

(US Patent App. 17/635,339), October 2022 (patent)

Abstract
A pumping system includes a conduit with an inlet region and an outlet region and a first pump coupled with the conduit between the inlet region and the outlet region. The first pump includes a first actuator chamber configured to house at least a first actuator, a first pump chamber aligned along a longitudinal axis of the conduit, wherein the first pump chamber is in fluid communication with the inlet region and the outlet region, and a first flexible diaphragm separating the first actuator chamber from the first pump chamber. Methods for operating the pumping system are also disclosed.

rm

link (url) [BibTex]

rm Mitchell, S. K., Acome, E. L., Keplinger, C. M. Hydraulically Amplified Self-Healing Electrostatic (HASEL) Pumps (US Patent App. 17/635,339), October 2022 (patent)

link (url) [BibTex]

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Causality, causal digital twins, and their applications

Schölkopf, B.

Machine Learning for Science: Bridging Data-Driven and Mechanistic Modelling (Dagstuhl Seminar 22382), (Editors: Berens, Philipp and Cranmer, Kyle and Lawrence, Neil D. and von Luxburg, Ulrike and Montgomery, Jessica), September 2022 (talk)

ei

link (url) DOI [BibTex]

ei Schölkopf, B. Causality, causal digital twins, and their applications Machine Learning for Science: Bridging Data-Driven and Mechanistic Modelling (Dagstuhl Seminar 22382), (Editors: Berens, Philipp and Cranmer, Kyle and Lawrence, Neil D. and von Luxburg, Ulrike and Montgomery, Jessica), September 2022 (talk)

link (url) DOI [BibTex]

Hydraulically Amplified Self-healing Electrostatic Actuators
Hydraulically Amplified Self-healing Electrostatic Actuators

Keplinger, C. M., Acome, E. L., Kellaris, N. A., Mitchell, S. K.

(US Patent 11408452), August 2022 (patent)

Abstract
An electro-hydraulic actuator includes a deformable shell defining an enclosed internal cavity and containing a liquid dielectric, first and second electrodes on first and second sides, respectively, of the enclosed internal cavity. An electrostatic force between the first and second electrodes upon application of a voltage to one of the electrodes draws the electrodes towards each other to displace the liquid dielectric within the enclosed internal cavity. The shell includes active and inactive areas such that the electrostatic forces between the first and second electrodes displaces the liquid dielectric within the enclosed internal cavity from the active area of the shell to the inactive area of the shell. The first and second electrodes, the deformable shell, and the liquid dielectric cooperate to form a self-healing capacitor, and the liquid dielectric is configured for automatically filling breaches in the liquid dielectric resulting from dielectric breakdown.

rm

link (url) [BibTex]

rm Keplinger, C. M., Acome, E. L., Kellaris, N. A., Mitchell, S. K. Hydraulically Amplified Self-healing Electrostatic Actuators (US Patent 11408452), August 2022 (patent)

link (url) [BibTex]

Composite Layering of Hydraulically Amplified Self-Healing Electrostatic Transducers
Composite Layering of Hydraulically Amplified Self-Healing Electrostatic Transducers

Keplinger, C. M., Mitchell, S. K., Kellaris, N. A., Rothemund, P.

(US Patent App. 17436455), May 2022 (patent)

Abstract
A hydraulically amplified self-healing electrostatic (HASEL) transducer includes a composite, multi-layered structure. In an example, a HASEL transducer includes a dielectric layer including at least one fluid dielectric layer. The dielectric layer includes a first side and a second side opposing the first side. The HASEL transducer further includes a first electrode disposed at the first side of the dielectric layer, a second electrode disposed at the second side of the dielectric layer, a first outer layer disposed at the first electrode opposite the dielectric layer, and a second outer layer disposed at the second electrode opposite the dielectric layer. The first outer layer and second outer layer exhibit different mechanical and electrical properties from the dielectric layer.

rm

link (url) [BibTex]

rm Keplinger, C. M., Mitchell, S. K., Kellaris, N. A., Rothemund, P. Composite Layering of Hydraulically Amplified Self-Healing Electrostatic Transducers (US Patent App. 17436455), May 2022 (patent)

link (url) [BibTex]

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Proceedings of the First Conference on Causal Learning and Reasoning (CLeaR 2022)

Schölkopf, B., Uhler, C., Zhang, K.

177, Proceedings of Machine Learning Research, PMLR, April 2022 (proceedings)

ei

link (url) [BibTex]

ei Schölkopf, B., Uhler, C., Zhang, K. Proceedings of the First Conference on Causal Learning and Reasoning (CLeaR 2022) 177, Proceedings of Machine Learning Research, PMLR, April 2022 (proceedings)

link (url) [BibTex]

2021

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Physically Plausible Tracking & Reconstruction of Dynamic Objects

Strecke, M., Stückler, J.

KIT Science Week Scientific Conference & DGR-Days 2021, October 2021 (talk)

ev

[BibTex]

2021

ev Strecke, M., Stückler, J. Physically Plausible Tracking & Reconstruction of Dynamic Objects KIT Science Week Scientific Conference & DGR-Days 2021, October 2021 (talk)

[BibTex]

Skinned multi-infant linear body model
Skinned multi-infant linear body model

Hesse, N., Pujades, S., Romero, J., Black, M.

(US Patent 11,127,163, 2021), September 2021 (patent)

Abstract
A computer-implemented method for automatically obtaining pose and shape parameters of a human body. The method includes obtaining a sequence of digital 3D images of the body, recorded by at least one depth camera; automatically obtaining pose and shape parameters of the body, based on images of the sequence and a statistical body model; and outputting the pose and shape parameters. The body may be an infant body.

ps

[BibTex]

ps Hesse, N., Pujades, S., Romero, J., Black, M. Skinned multi-infant linear body model (US Patent 11,127,163, 2021), September 2021 (patent)

[BibTex]

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Proceedings of the 1st Workshop on NLP for Positive Impact

Field, A., Prabhumoye, S., Sap, M., Jin, Z., Zhao, J., Brockett, C.

Association for Computational Linguistics, August 2021 (proceedings)

ei

link (url) [BibTex]

ei Field, A., Prabhumoye, S., Sap, M., Jin, Z., Zhao, J., Brockett, C. Proceedings of the 1st Workshop on NLP for Positive Impact Association for Computational Linguistics, August 2021 (proceedings)

link (url) [BibTex]

Improving Human Decision-Making by Discovering Efficient Strategies for Hierarchical Planning
Improving Human Decision-Making by Discovering Efficient Strategies for Hierarchical Planning

Heindrich, L., Consul, S., Stojcheski, J., Lieder, F.

Tübingen, Germany, The first edition of Life Improvement Science Conference, June 2021 (talk) Accepted

Abstract
The discovery of decision strategies is an essential part of creating effective cognitive tutors that teach planning and decision-making skills to humans. In the context of bounded rationality, this requires weighing the benefits of different planning operations compared to their computational costs. For small decision problems, it has already been shown that near-optimal decision strategies can be discovered automatically and that the discovered strategies can be taught to humans to increase their performance. Unfortunately, these near-optimal strategy discovery algorithms have not been able to scale well to larger problems due to their computational complexity. In this talk, we will present recent work at the Rationality Enhancement Group to overcome the computational bottleneck of existing strategy discovery algorithms. Our approach makes use of the hierarchical structure of human behavior by decomposing sequential decision problems into two sub-problems: setting a goal and planning how to achieve it. An additional metacontroller component is introduced to switch the current goal when it becomes beneficial. The hierarchical decomposition enables us to discover near-optimal strategies for human planning in larger and more complex tasks than previously possible. We then show in online experiments that teaching the discovered strategies to humans improves their performance in complex sequential decision-making tasks.

re

Project Page [BibTex]

re Heindrich, L., Consul, S., Stojcheski, J., Lieder, F. Improving Human Decision-Making by Discovering Efficient Strategies for Hierarchical Planning Tübingen, Germany, The first edition of Life Improvement Science Conference, June 2021 (talk) Accepted

Project Page [BibTex]

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An electric machine with two-phase planar Lorentz coils and a ring-shaped Halbach array for high torque density and high-precision applications

Nguyen, V., Javot, B., Kuchenbecker, K. J.

(EP21170679.1), April 2021 (patent)

Abstract
An electric machine, in particular a motor or a generator, comprising a rotor and a stator, wherein the rotor comprises a planar, ring-shaped rotor base element and the stator comprises a planar ring-shaped stator base element, wherein the rotor base element and the stator base element are aligned along an axial axis (Z) of the electric machine, wherein a plurality of magnet elements are arranged around the circumference of the ring-shaped rotor base element forming a Halbach magnet-ring assembly, wherein the Halbach magnet-ring assembly generates a magnetic field (BR) with axial and azimuthal components, wherein a plurality of coils are arranged around the circumference (C) of the ring-shaped stator base element.

hi

Project Page [BibTex]

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Hydraulically Amplified Self-Healing Electrostatic Transducers Harnessing Zipping Mechanism

Keplinger, C. M., Acome, E. L., Kellaris, N. A., Mitchell, S. K., Morrissey, T. G.

(US Patent 20210003149A1), January 2021 (patent)

Abstract
Hydraulically-amplified, self-healing, electrostatic transducers that harness electrostatic and hydraulic forces to achieve various actuation modes. Electrostatic forces between electrode pairs of the transducers generated upon application of a voltage to the electrode pairs draws the electrodes in each pair towards each other to displace a liquid dielectric contained within an enclosed internal cavity of the transducers to drive actuation in various manners. The electrodes and the liquid dielectric form a self-healing capacitor whereby the liquid dielectric automatically fills breaches in the liquid dielectric resulting from dielectric breakdown. Due to the resting shape of the cavity, a zipping-mechanism allows for selectively actuating the electrodes to a desired extent by controlling the voltage supplied.

rm

link (url) [BibTex]

rm Keplinger, C. M., Acome, E. L., Kellaris, N. A., Mitchell, S. K., Morrissey, T. G. Hydraulically Amplified Self-Healing Electrostatic Transducers Harnessing Zipping Mechanism (US Patent 20210003149A1), January 2021 (patent)

link (url) [BibTex]

Sensor Arrangement for Sensing Forces and Methods for Fabricating a Sensor Arrangement and Parts Thereof
Sensor Arrangement for Sensing Forces and Methods for Fabricating a Sensor Arrangement and Parts Thereof

Sun, H., Martius, G., Kuchenbecker, K. J.

(PCT/EP2021/050230), Max Planck Institute for Intelligent Systems, Max Planck Ring 4, January 2021 (patent)

Abstract
The invention relates to a vision-based haptic sensor arrangement for sensing forces, to a method for fabricating a top portion of a sensor arrangement, and to a method for fabricating a sensor arrangement.

al hi

Project Page [BibTex]

al hi Sun, H., Martius, G., Kuchenbecker, K. J. Sensor Arrangement for Sensing Forces and Methods for Fabricating a Sensor Arrangement and Parts Thereof (PCT/EP2021/050230), Max Planck Institute for Intelligent Systems, Max Planck Ring 4, January 2021 (patent)

Project Page [BibTex]

Method for force inference, method for training a feed-forward neural network, force inference module, and sensor arrangement
Method for force inference, method for training a feed-forward neural network, force inference module, and sensor arrangement

Sun, H., Martius, G., Kuchenbecker, K. J.

(PCT/EP2021/050231), Max Planck Institute for Intelligent Systems, Max Planck Ring 4, January 2021 (patent)

Abstract
The invention relates to a method for force inference of a sensor arrangement for sensing forces, to a method for training a feed-forward neural network, to a force inference module, and to a sensor arrangement.

al hi

Project Page [BibTex]

al hi Sun, H., Martius, G., Kuchenbecker, K. J. Method for force inference, method for training a feed-forward neural network, force inference module, and sensor arrangement (PCT/EP2021/050231), Max Planck Institute for Intelligent Systems, Max Planck Ring 4, January 2021 (patent)

Project Page [BibTex]

Slippery micropropellers penetrate the vitreous humor
Slippery micropropellers penetrate the vitreous humor

Wu, Z., Qiu, T., Fischer, P.

(US20210170056A1), 2021 (patent)

Abstract
Microparticles actively propel through the vitreous humour and reach the retina in porcine eyes. The slippery micro helical propellers are constructed by the combination of glancing angle deposition technique and the fusion of the slippery liquid layer. The magnetically propulsion in the vitreous humour relies on the matched size of the propeller to the collagen network of the vitreous, and the anti-adhesion coating of the collagen fiber bundles. Clinical optical coherence tomography observed the displacement of the slippery micropropellers through the vitreous to the macular area on the retina. The slippery micropropellers realize the controllable massive movements to the retina in 30 mins, while exerting the travelling distance of above one centimeter. The injection of the slippery micropropellers, the magnetically-powered controllable propulsion in the vitreous, and the optical coherence tomography imaging technique, constitute an intact method for rapid targeted ocular delivery, providing a promising approach towards ophthalmologic applications.

pf

[BibTex]

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Magnetic trap system and method of navigating a microscopic device

Sitti, M., Son, D., Bluemler, P.

2021, EP Prio. Patent App. 21 187 691.7 (patent)

pi

[BibTex]

pi Sitti, M., Son, D., Bluemler, P. Magnetic trap system and method of navigating a microscopic device 2021, EP Prio. Patent App. 21 187 691.7 (patent)

[BibTex]

Magnetic field generator
Magnetic field generator

Qiu, T., Fischer, P.

(US20210228298A1), 2021 (patent)

Abstract
A magnetic field generator that comprises at least three groups of magnets, the magnetic moment of each magnet being rotatable about a rotation axis, wherein each group comprises at least two magnets, and each group has an orientation in the sense that the rotation axes of the magnetic moments of the magnets of the same group extend in the group's orientation. The orientations of the different groups are linearly independent.

pf

[BibTex]

pf Qiu, T., Fischer, P. Magnetic field generator (US20210228298A1), 2021 (patent)

[BibTex]

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Heat assisted magnetic programming of soft materials

Sitti, M., Alapan, Y., Karacakol, A.

2021, International App. PCT/EP2021/060313 (patent)

pi

[BibTex]

pi Sitti, M., Alapan, Y., Karacakol, A. Heat assisted magnetic programming of soft materials 2021, International App. PCT/EP2021/060313 (patent)

[BibTex]

2020

System and Method for Simultaneously Sensing Contact Force and Lateral Strain
System and Method for Simultaneously Sensing Contact Force and Lateral Strain

Lee, H., Kuchenbecker, K. J.

(EP20000480.2), December 2020 (patent)

Abstract
A tactile sensing system having a sensor component which comprises a plurality of layers stacked along a normal axis Z and a detection unit electrically connected to the sensor component, wherein the sensor component comprises a first layer, designed as a piezoresistive layer, a third layer, designed as a conductive layer which is electrically connected to the detection unit, and a second layer, designed as a spacing layer between the first layer and the third layer, wherein the first layer comprises a plurality of electrodes In electrically connected to the detection unit, wherein at least one contact force along the normal axis Z on the sensor component is detectable by the detection unit due to a change of a current distribution between the first layer and the third layer, wherein at least one lateral strain on the sensor component is detectable by the detection unit due to a change of the resistance distribution change in the piezoresistive first layer.

hi

Project Page [BibTex]

Method for Force Inference of a Sensor Arrangement, Methods for Training Networks, Force Inference Module and Sensor Arrangement
Method for Force Inference of a Sensor Arrangement, Methods for Training Networks, Force Inference Module and Sensor Arrangement

Sun, H., Martius, G., Lee, H., Spiers, A., Fiene, J.

(PCT/EP2020/083261), Max Planck Institute for Intelligent Systems, Max Planck Ring 4, November 2020 (patent)

Abstract
The present invention relates to a method for force inference of a sensor arrangement, to related methods for training of networks, to a force inference module for performing such methods, and to a sensor arrangement for sensing forces. When developing applications such as robots, sensing of forces applied on a robot hand or another part of a robot such as a leg or a manipulation device is crucial in giving robots increased capabilities to move around and/or manipulate objects. Known implementations for sensor arrangements that can be used in robotic applications in order to have feedback with regard to applied forces are quite expensive and do not have sufficient resolution. Sensor arrangements may be used to measure forces. However, known sensor arrangements need a high density of sensors to provide for a high special resolution. It is thus an object of the present invention to provide for a method for force inference of a sensor arrangement and related methods that are different or optimized with regard to the prior art. It is a further object to provide for a force inference module to perform such methods. It is a further object to provide for a sensor arrangement for sensing forces with such a force inference module.

al hi zwe-rob

Project Page [BibTex]

al hi zwe-rob Sun, H., Martius, G., Lee, H., Spiers, A., Fiene, J. Method for Force Inference of a Sensor Arrangement, Methods for Training Networks, Force Inference Module and Sensor Arrangement (PCT/EP2020/083261), Max Planck Institute for Intelligent Systems, Max Planck Ring 4, November 2020 (patent)

Project Page [BibTex]

Machine learning systems and methods of estimating body shape from images
Machine learning systems and methods of estimating body shape from images

Black, M., Rachlin, E., Heron, N., Loper, M., Weiss, A., Hu, K., Hinkle, T., Kristiansen, M.

(US Patent 10,679,046), June 2020 (patent)

Abstract
Disclosed is a method including receiving an input image including a human, predicting, based on a convolutional neural network that is trained using examples consisting of pairs of sensor data, a corresponding body shape of the human and utilizing the corresponding body shape predicted from the convolutional neural network as input to another convolutional neural network to predict additional body shape metrics.

ps

[BibTex]

ps Black, M., Rachlin, E., Heron, N., Loper, M., Weiss, A., Hu, K., Hinkle, T., Kristiansen, M. Machine learning systems and methods of estimating body shape from images (US Patent 10,679,046), June 2020 (patent)

[BibTex]

Fibrillar structures to reduce viscous drag on aerodynamic and hydrodynamic wall surfaces
Fibrillar structures to reduce viscous drag on aerodynamic and hydrodynamic wall surfaces

Castillo, L., Aksak, B., Sitti, M.

2020, US Patent 10,830,261 (patent)

pi

[BibTex]

Gripping apparatus and method of producing a gripping apparatus
Gripping apparatus and method of producing a gripping apparatus

Song, S., Sitti, M., Drotlef, D., Majidi, C.

Google Patents, February 2020, US Patent App. 16/610,209 (patent)

Abstract
The present invention relates to a gripping apparatus comprising a membrane; a flexible housing; with said membrane being fixedly connected to a periphery of the housing. The invention further relates to a method of producing a gripping apparatus.

pi

[BibTex]

pi Song, S., Sitti, M., Drotlef, D., Majidi, C. Gripping apparatus and method of producing a gripping apparatus Google Patents, February 2020, US Patent App. 16/610,209 (patent)

[BibTex]

Machine learning systems and methods for augmenting images
Machine learning systems and methods for augmenting images

Black, M., Rachlin, E., Lee, E., Heron, N., Loper, M., Weiss, A., Smith, D.

(US Patent 10,529,137 B1), January 2020 (patent)

Abstract
Disclosed is a method including receiving visual input comprising a human within a scene, detecting a pose associated with the human using a trained machine learning model that detects human poses to yield a first output, estimating a shape (and optionally a motion) associated with the human using a trained machine learning model associated that detects shape (and optionally motion) to yield a second output, recognizing the scene associated with the visual input using a trained convolutional neural network which determines information about the human and other objects in the scene to yield a third output, and augmenting reality within the scene by leveraging one or more of the first output, the second output, and the third output to place 2D and/or 3D graphics in the scene.

ps

[BibTex]

ps Black, M., Rachlin, E., Lee, E., Heron, N., Loper, M., Weiss, A., Smith, D. Machine learning systems and methods for augmenting images (US Patent 10,529,137 B1), January 2020 (patent)

[BibTex]

Method and device for reversibly attaching a phase changing metal to an object
Method and device for reversibly attaching a phase changing metal to an object

Zhou Ye, G. Z. L. M. S.

US Patent Application 10675718, January 2020 (patent)

Abstract
A method for reversibly attaching a phase changing metal to an object, the method comprising the steps of: providing a substrate having at least one surface at which the phase changing metal is attached, heating the phase changing metal above a phase changing temperature at which the phase changing metal changes its phase from solid to liquid, bringing the phase changing metal, when the phase changing metal is in the liquid phase or before the phase changing metal is brought into the liquid phase, into contact with the object, permitting the phase changing metal to cool below the phase changing temperature, whereby the phase changing metal becomes solid and the object and the phase changing metal become attached to each other, reheating the phase changing metal above the phase changing temperature to liquefy the phase changing metal, and removing the substrate from the object, with the phase changing metal separating from the object and remaining with the substrate.

pi

US Patent Application Database US Patent Application (PDF) link (url) [BibTex]

Method of actuating a shape changeable member, shape changeable member and actuating system
Method of actuating a shape changeable member, shape changeable member and actuating system

Hu, W., Lum, G. Z., Mastrangeli, M., Sitti, M.

Google Patents, January 2020, US Patent App. 16/477,593 (patent)

Abstract
The present invention relates to a method of actuating a shape changeable member of actuatable material. The invention further relates to a shape changeable member and to a system comprising such a shape changeable member and a magnetic field apparatus.

minibot pi

[BibTex]

Method of fabricating a shape-changeable magentic member, method of producing a shape changeable magnetic member and shape changeable magnetic member
Method of fabricating a shape-changeable magentic member, method of producing a shape changeable magnetic member and shape changeable magnetic member

Guo Zhan Lum, Z. Y. M. S.

US Patent Application 16845646, 2020 (patent)

Abstract
The present invention relates to a method of fabricating a shape-changeable magnetic member comprising a plurality of segments with each segment being able to be magnetized with a desired magnitude and orientation of magnetization, to a method of producing a shape changeable magnetic member composed of a plurality of segments and to a shape changeable magnetic member.

pi

US Patent Application Database US Patent Application (PDF) [BibTex]

Method for producing an XUV and X-ray diffractive optic
Method for producing an XUV and X-ray diffractive optic

SANLI, U. T., Ceylan, H., Sitti, M., SCHÜTZ, G., Keskinbora, K.

2020, US Patent App. 16/979,121 (patent)

pi

[BibTex]

pi SANLI, U. T., Ceylan, H., Sitti, M., SCHÜTZ, G., Keskinbora, K. Method for producing an XUV and X-ray diffractive optic 2020, US Patent App. 16/979,121 (patent)

[BibTex]

Excursion Search for Constrained Bayesian Optimization under a Limited Budget of Failures
Excursion Search for Constrained Bayesian Optimization under a Limited Budget of Failures

Marco, A., Rohr, A. V., Baumann, D., Hernández-Lobato, J. M., Trimpe, S.

2020 (proceedings) In revision

Abstract
When learning to ride a bike, a child falls down a number of times before achieving the first success. As falling down usually has only mild consequences, it can be seen as a tolerable failure in exchange for a faster learning process, as it provides rich information about an undesired behavior. In the context of Bayesian optimization under unknown constraints (BOC), typical strategies for safe learning explore conservatively and avoid failures by all means. On the other side of the spectrum, non conservative BOC algorithms that allow failing may fail an unbounded number of times before reaching the optimum. In this work, we propose a novel decision maker grounded in control theory that controls the amount of risk we allow in the search as a function of a given budget of failures. Empirical validation shows that our algorithm uses the failures budget more efficiently in a variety of optimization experiments, and generally achieves lower regret, than state-of-the-art methods. In addition, we propose an original algorithm for unconstrained Bayesian optimization inspired by the notion of excursion sets in stochastic processes, upon which the failures-aware algorithm is built.

am ics

arXiv code (python) PDF [BibTex]

Propeller and method in which a propeller is set into motion
Propeller and method in which a propeller is set into motion

Qui, T., Fischer, P.

(US20200031010A1), 2020 (patent)

Abstract
A method where a propeller is set into locomotion relative to a medium at least partially surrounding the propeller. An actuator induces a rotation of the propeller relative to the medium and about a rotational axis of the propeller, and the propeller converts its rotational movement into locomotion relative to the medium. The aspect ratio of at least one cross-section of the propeller is three or more. Also a helical or modifiedly helical propeller for converting rotational movement of the propeller into locomotion of the propeller relative to a medium at least partially surrounding the propeller, where the aspect ratio of at least one cross section of the propeller is three or more. And a method of producing a propeller, including the step of providing a plate extending along the helical axis, where the aspect ratio of at least one cross section of the plate is three or more.

pf

[BibTex]