Compliance is an intrinsic aspect of nearly all biological systems. However, until recently, traditional robotics has focused more on rigid structures with discrete numbers of links and actuators (whether in series or parallel). More recently, soft robotics has become a popular area of research as it provides a level of safety for human/robot interaction that rigid systems cannot provide. However, there are many situations where robotic systems need the ability to switch between being highly compliant and offering rigidity as they interact with their environment (including human operators). In the effort to develop tunably compliant mechanisms and robotics systems, the M3 Robotics Lab is focused on:
- High degrees of *: Estimation and control for systems where there are high degrees of freedom, high degrees of actuation or underactuation, and/or high degrees of sensor information.
- Tunably compliant mechanism: Using smart materials to actively control mechanism compliance, often coupled with traditional robotic actuation schemes.
- Applications in medical robotics: The goal of many medical devices is to deftly navigate to a location within the body and then interact with tissues at the target location. Travel to the treatment site requires dexterity and compliance, while interactions at the target site require higher levels of rigidity. Medical robotics provides an ideal testbed for validating the previous two principles.
We take an approach of design, model, estimation, and control, where we focus on both analytical and theoretical understanding as well as experimental validation and demonstration. While the primary focus of the research in high degree of freedom systems with tunable compliance is in the area of medical robotics and biomedical systems, these same principles have the potential for employ in manufacturing scenarios, space robotics, and home robotics.
Heon’s paper is accepted at the ASME 2016 Conference
Heon’s paper entitled “Design and experimentation of a tunably-compliant robotic finger using low melting point metals” is accepted at the ASME 2016 Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS 2016) held on September 28-30, 2016, Stowe, VT, USA.Read Story
Hi paper is about fabrication and testing of a tunably-compliant tendon-driven finger implemented through the geometric design of a skeleton made of the low-melting point Field’s metal encased in a silicone rubber. The initial prototype consists of a skeleton comprised of two rods of the metal, with heating elements in thermal contact with the metal at various points along its length, embedded … » More …
New journal paper is going to be published soon.
A journal paper is going to be published, it presents a new needle insertion system which consist of preshaped nitinol needles and tubes. Also, it will introduce a method about how to control the insertion curvature inside tissue.Read Story
New 3D Printer
Rapid prototyping is a key part of research here at the M3 Robotics Lab; our experiments often require small, custom parts designed for very specific purposes. Having a 3D printer in the lab gives us the flexibility to modify designs and print new parts on our own whenever we need them.
The TAZ 6 features a large print volume (nearly the volume of a soccer ball), automatic bed leveling, and automatic tool head cleaning. The TAZ 6 is … » More …Read Story
Brian Laferriere joins M3 Robotics Lab Team
Brian Laferriere is pursuing a MS degree in Mechanical Engineering at WSU and has joined the M3 Robotics Lab Team as an graduate research assistant.Read Story
Carson Schlect joins M3 Robotics Lab Team
Carson Schlect is pursuing a BS degree in Mechanical Engineering at WSU and has joined the M3 Robotics Lab Team as an undergraduate research assistant.Read Story
Heon Joo joins M3 Robotics Lab Team
Heon Joo is pursuing a MS degree in Mechanical Engineering at WSU and has joined the M3 Robotics Lab Team as a graduate research assistant.Read Story
Fan Yang joins M3 Robotics Lab Team
Fan Yang is pursuing a PhD in Mechanical Engineering at WSU and has joined the M3 Robotics Lab Team as a graduate research assistant.Read Story
Tony Beck joins M3 Robotics Lab Team
Tony Beck is pursuing a BS degree in Sports Science/Pre-med at WSU and has joined the M3 Robotics Lab Team as an undergraduate research assistant.Read Story
Lab name chosen
After consulting with friends, family, and former colleagues, I have settled on a name for the lab.
Modeling, Motion, and Medical Robotics Laboratory
which will be known in short as the
M3 Robotics Lab.
Stayed tuned for a lab logo!
Research assistantship offers have been made to two students and we are excited to begin the challenges of research, grant writing, teaching, and building a new lab together.Read Story
Dr. Swensen begins first day at WSU
Dr. John P. Swensen is a new professor in the School of Mechanical and Materials Engineering. While a name for the lab is still forthcoming, the research focus will be on tunably-compliant devices with applications in both medical robotics and modular robotics. See our research page to see some past research done by Dr. Swensen during his PhD at Johns Hopkins and his postdoctoral research at Yale University, and to see some of the new, exciting directions the lab is heading.Read Story