Previous work

Paired Pouch Motors for Robotic Applications
The pairing of pouch motors or serial pneumatic artificial muscles (sPAMs) can be used to increase their performance in terms of displacement and force. This simple concept was used for the actuation of a simple robotic arm.

Published in:
Namsoo Oh, Yeong Jae Park, Seongbok Lee, Haneol Lee, and Hugo Rodrigue, Published online ahead of print, “Design of Paired Pouch Motors for Robotic Applications,” Advanced Materials Technologies.
Origami-based Vacuum Pneumatic Artificial Muscle (OV-PAM)
A vacuum-based soft linear actuator was developed capable of deformations up to 99.7% of their length and of lifting payloads up to 40 kg. This actuator has a large potential for robotic applications.

Published in:
Jin-Gyu Lee and Hugo Rodrigue, Published online ahead of print, “Origami-based Vacuum Pneumatic Artificial Muscles with Large Contraction Ratios,” Soft Robotics.
Soft Robotic Wrist and Gripper
This shape memory alloy and polymer based soft morphing wrist and gripper was developed by Prof. Hugo Rodrigue during his Ph.D. at Seoul National University. It is capable of recovering from buckling and of producing twisting deformations.

Published in:
Rodrigue, H. et al., 2015, “Fabrication of Wrist-like SMA-based Actuator by Double Smart Soft Composite Casting,” Smart Materials and Structures, Vol. 24, No. 12, No. 125003