Tzu-Hao Huang

TL;DR: This study establishes a new generic design paradigm of next-generation high-performance soft robots that are applicable for multifunctionality, different actuation methods, and materials at multiscales.

TL;DR: Two different approaches aiming at designing, producing, and testing robust washable and reliable smart textile systems are presented.

TL;DR: Kinematic simulations demonstrate that misalignment between the robot joint and knee joint can be reduced by 74% at maximum knee flexion and a low impedance mechanical transmission reduces the reflected inertia and damping of the actuator to human, thus the exoskeleton is highlybackdrivable.

TL;DR: In this paper, a generic design principle that harnesses mechanical instability for a variety of spine-inspired fast and strong soft machines is presented. But, unlike most current soft robots that are designed as inherently and unimodally stable, their design leverages tunable snap-through bistability to fully explore the ability of soft robots to rapidly store and release energy within tens of milliseconds.

TL;DR: The design and human–robot interaction modeling of a portable hip exoskeleton based on a custom quasi-direct drive actuation with performance improvement compared with state-of-the-art exoskeletons is described and demonstrated.