Publications

2024

1. 

   High-Expansion-Ratio Deployable Structures for Long Duration Space Missions

   2024

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2023

1. 

   Enhancing the Performance of Pneu-net Actuators Using a Torsion Resistant Strain Limiting Layer

   Ian Sullivan Good, Srivatsan Balaji, and Jeffrey Ian Lipton

   2023

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2022

1. 

   Expanding the Design Space for Electrically-Driven Soft Robots Through Handed Shearing Auxetics

   Ian Good, Tosh Brown-Moore, Aditya Patil, and 2 more authors

   2022

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2. Expanding the Design Space for Electrically-Driven Soft Robots Through Handed Shearing Auxetics

   Ian Good, Tosh Brown-Moore, Aditya Patil, and 2 more authors

   2022

3. 

   Computational Design of Passive Grippers

   Milin Kodnongbua, Ian Good, Yu Lou, and 2 more authors

   ACM Transactions on Graphics, Jul 2022

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4. 

   Kinergy: Creating 3D Printable Motion Using Embedded Kinetic Energy

   Liang He, Xia Su, Huaishu Peng, and 2 more authors

   Jul 2022

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   We present Kinergy—an interactive design tool for creating self-propelled motion by harnessing the energy stored in 3D printable springs. To produce controllable output motions, we introduce 3D printable kinetic units, a set of parameterizable designs that encapsulate 3D printable springs, compliant locks, and transmission mechanisms for three non-periodic motions—instant translation, instant rotation, continuous translation—and four periodic motions—continuous rotation, reciprocation, oscillation, intermittent rotation. Kinergy allows the user to create motion-enabled 3D models by embedding kinetic units, customize output motion characteristics by parameterizing embedded springs and kinematic elements, control energy by operating the specialized lock, and preview the resulting motion in an interactive environment. We demonstrate the potential of our techniques via example applications from spring-loaded cars to kinetic sculptures and close with a discussion of key challenges such as geometric constraints.

5. Vibration Reduction Using Material Jetted Parts for Sander Grips

   Shruthika Kandukuri, Atharva Kashyap, and Jeffrey Lipton

   Jul 2022

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6. 

   Optimizing 3D Printed Tourniquets for Immediate Aid in Ukraine

   Tosh Kāneala Brown-Moore, Srivatsan Balaji, and Jeffrey Ian Lipton

   Jul 2022

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7. 

   Applied Viscous Thread Instability for Manufacturing 3D Printed Foams

   Brett Emery, and Daniel Revier

   Jul 2022

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   Traditional foams are fabricated via stochastic chemical processes that yield homogeneous material properties. Foams can exhibit a wide range of material properties by varying process controls allowing them to be used in many industrial and commercial applications. Previously, additive manufacturing could only produce foam approximations in the form of traditional lattice infill. Our work employs viscous thread printing (VTP) on a fused filament fabrication (FFF) printer, exploiting the semi-viscous nature of extruded filament to coil producing a new type of printed foam. The use of 3D printing in this application allows for significant advantages: spatial control of extrusion allows for graded material properties and custom foam shapes on-the-fly.

2021

1. Robotic Jigsaw: A Non-Holonomic Cutting Robot and Path Planning Algorithm

   Haisen Zhao, Yash Talwekar, Wenqing Lan, and 4 more authors

   Jul 2021

2020

1. 

   Multiplexed Manipulation: Versatile Multimodal Grasping via a Hybrid Soft Gripper

   Lillian Chin, Felipe Barscevicius, Jeffrey Lipton, and 1 more author

   Jul 2020

2019

1. 

   Automated Recycling Separation Enabled by Soft Robotic Material Classification

   Lillian Chin, Jeffrey Lipton, Michelle C. Yuen, and 2 more authors

   Jul 2019

2. 

   Carpentry Compiler

   Chenming Wu, Haisen Zhao, Chandrakana Nandi, and 3 more authors

   ACM Trans. Graph., Nov 2019

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   Traditional manufacturing workflows strongly decouple design and fabrication phases. As a result, fabrication-related objectives such as manufacturing time and precision are difficult to optimize in the design space, and vice versa. This paper presents HL-HELM, a high-level, domain-specific language for expressing abstract, parametric fabrication plans; it also introduces LL-HELM, a low-level language for expressing concrete fabrication plans that take into account the physical constraints of available manufacturing processes. We present a new compiler that supports the real-time, unoptimized translation of high-level, geometric fabrication operations into concrete, tool-specific fabrication instructions; this gives users immediate feedback on the physical feasibility of plans as they design them. HELM offers novel optimizations to improve accuracy and reduce fabrication time as well as material costs. Finally, optimized low-level plans can be interpreted as step-by-step instructions for users to actually fabricate a physical product. We provide a variety of example fabrication plans in the carpentry domain that are designed using our high-level language, show how the compiler translates and optimizes these plans to generate concrete low-level instructions, and present the final physical products fabricated in wood.

2018

1. 

   Baxter’s Homunculus: Virtual Reality Spaces for Teleoperation in Manufacturing

   Jeffrey I. Lipton, Aidan J. Fay, and Daniela Rus

   IEEE Robotics and Automation Letters, Nov 2018

2. 

   Compliant Electric Actuators based on Handed Shearing Auxetics

   Lillian Chin, Jeffrey Lipton, Robert MacCurdy, and 3 more authors

   In 2018 IEEE International Conference on Soft Robotics (RoboSoft), Nov 2018

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2016

1. 

   3D Printing Variable Stiffness Foams Using Viscous Thread Instability

   Hod Lipson Jeffrey I. Lipton

   Nature; Scientific Letters, Nov 2016

2. 

   Printable Programmable Viscoelastic Materials for Robots

   Robert MacCurdy, Jeffrey Lipton, Shuguang Li, and 1 more author

   Nov 2016

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