Journal Publications

    2021

  • B. Yang*, R. Baines*, D. Shah, S. Patiballa, E. Thomas, M. Venkadesan, R. Kramer-Bottiglio. "Reprogrammable Soft Actuation and Shape-Shifting via Tensile Jamming." Science Advances, Vol. 7, No. 40, p. eabh2073, 2021. (*Authors contributed equally).

  • D. Shah, J. Booth, R. Baines, K. Wang, M. Vespignani, K. Bekris, R. Kramer-Bottiglio. "Tensegrity Robotics." Soft Robotics, 2021 (in press).

  • S. Y. Kim, S. Liu, S. Sohn, J. Jacobs, M. Shattuck, C. O'Hern, J. Schroers, M. Loewenberg, R. Kramer-Bottiglio. "Static-state particle fabrication via rapid vitrification of a thixotropic medium." Nature Communications, Vol. 12, No. 1, p. 1-8, 2021.

  • S. Liu, S. Y. Kim, K. Henry, D. Shah, R. Kramer-Bottiglio. "Printed and laser-activated liquid metal-elastomer conductors using ethanol/PDMS/liquid metal double emulsions." ACS Applied Materials & Interfaces, Vol. 13, No. 24, p. 28729-28736, 2021.

  • E. Porte, R. Kramer-Bottiglio. "Nonlinear Poisson's ratio for modeling hyperelastic capacitive sensors." Advanced Materials Technologies, Vol. 6, No. 8, p. 2001247, 2021.

  • S. Liu, D. Shah, R. Kramer-Bottiglio. "Highly stretchable multilayer electronic circuits using biphasic gallium-indium." Nature Materials, Vol. 20, No.6, p. 851-858 2021.

  • A. Jackson, N. Mentzer, R. Kramer-Bottiglio. "Increasing gender diversity in engineering using soft robotics.'' Journal of Engineering Education, 2021.

  • D. Shah, E. Yang, M. Yuen, E. Huang, R. Kramer-Bottiglio. "Jamming skins that control system rigidity from the surface." Advanced Functional Materials, Vol. 31, No. 1, p. 2006915, 2021.

  • R. Baines, F. Fish, and R. Kramer-Bottiglio. "Amphibious robotic propulsive mechanisms: Current technologies and open challenges." in Bioinspired Sensing, Actuation, and Control in Underwater Soft Robotic Systems, New York, NY: Springer, 2021.

  • D. Shah, J. Powers, L. Tilton, S. Kriegman, J. Bongard, R. Kramer-Bottiglio. "A soft robot that adapts to environments through shape change." Nature Machine Intelligence, 2020.

    • 2020

  • T. L. Buckner, R. A. Bilodeau, S. Y. Kim, R. Kramer-Bottiglio. "Roboticizing fabric by integrating functional fibers." PNAS, Vol. 117, No. 41, p. 25360-25369, 2020.

  • J. W. Booth, O. Cyr-Choiniere, J. C. Case, D. Shah, M. C. Yuen, R. Kramer-Bottiglio. "Surface actuation and sensing of a tensegrity structure using robotic skins." Soft Robotics, 2020.

  • D. Shah, B. Yang, S. Kriegman, M. Levin, J. Bongard, R. Kramer-Bottiglio. "Shape changing robots: Bioinspiration, simulation, and physical realization." Advanced Materials, 2020.

  • D. Shah, E. Yang, M. Yuen, E. Huang, R. Kramer-Bottiglio. "Jamming skins that control system rigidity from the surface." Advanced Functional Materials, 2020.

  • R. Baines, J. Booth, R. Kramer-Bottiglio. "Rolling soft membrane-driven tensegrity robots." IEEE Robotics and Automation Letters, Vol. 5, No. 4, p. 6567-6574, 2020.

  • A. Bilodeau, A. M. Nasab, D. Shah, R. Kramer-Bottiglio. "Uniform conductivity in stretchable silicones via multiphase inclusions." Soft Matter, Vol. 16, No. 25, p. 5827–5839, 2020. (Back Cover Article)

  • B. Shih, D. Shah, J. Li, T. Thuruthel, Y.-L. Park, F. Iida, Z. Bao, R. Kramer-Bottiglio, M. Tolley. "Electronic skins and machine learning for intelligent soft robots." Science Robotics, Vol. 5, No. 41, p. eaaz9239, 2020.

  • J. Case, J. Gibert, J. Booth, V. SunSpiral, R. Kramer-Bottiglio. "Spinal helical actuation patterns for locomotion in soft robots." IEEE Robotics and Automation Letters, Vol. 5, No. 3, 2020.

  • S. Kim, Y. Choo, R. Bilodeau, M. Yuen, G. Kaufman, D. Shah, C. Osuji, R. Kramer-Bottiglio. "Sustainable manufacturing of sensors onto soft systems using self-coagulating conductive Pickering emulsions." Science Robotics, Vol. 5, No. 39, p. eaay3604, 2020.

  • R. Baines, S. Freeman, F. Fish, R. Kramer-Bottiglio. "Variable stiffness morphing limb for amphibious legged robots inspired by chelonian environmental adaptations." Bioinspiration & Biomimetics, 2020.

  • A. Jackson, N. Mentzer, R. Kramer-Bottiglio. "Soft robotics as emerging technologies: Preparing students for future work through soft robot design experiences." Technology and Engineering Teacher, Vol. 79, No. 6, p. 8, Mar. 2020.

    • 2019

  • T. Buckner, M. Yuen, S. Y. Kim, R. Kramer-Bottiglio. "Enhanced variable stiffness and variable stretchability enabled by phase‐changing particulate additives." Advanced Functional Materials, Vol. 29, No. 50, p. 1903368, 2019.

  • S. Liu, S. Reed, M. Higgins, M. Titus, R. Kramer-Bottiglio. "Oxide rupture-induced conductivity in liquid metal nanoparticles by laser and thermal sintering." Nanoscale, Vol. 11, No. 38, p. 17615-17629, 2019. (Back Cover Article)

  • R. Bilodeau, M. Yuen, R. Kramer-Bottiglio. "Addressable, stretchable heating silicone sheets." Advanced Materials Technologies, Vol. 4, No. 9, p. 1900276, 2019.

  • S. Y. Kim*, R. Baines*, J. Booth, N. Vasios, K. Bertoldi, R. Kramer-Bottiglio. "Reconfigurable soft body trajectories using unidirectionally stretchable composite laminae." Nature Communications, Vol. 10, No. 1, p. 3464, 2019. (*Authors contributed equally).

  • J. Case, M. Yuen, J. Jacobs, R. Kramer-Bottiglio. "Robotic skins that learn to control passive structures." IEEE Robotics and Automation Letters, Vol. 4, No. 3, p. 2485–2492, 2019. (Best paper finalist in IEEE Int. Conference on Soft Robotics (RoboSoft), 2019).

  • S. Liu, M. Yuen, R. Kramer-Bottiglio. "Reconfigurable electronic devices enabled by laser-sintered liquid metal nanoparticles." Flexible and Printed Electronics, Vol. 4, No. 1, p. 015004. 2019.

  • D. Shah, M. Yuen, L. Tilton, E. Yang, R. Kramer-Bottiglio. "Morphing robots using robotic skins that sculpt clay." IEEE Robotics and Automation Letters, Vol. 4, No. 2, p. 2204–2211, 2019.

  • A. Jackson, N. Mentzer, R. Kramer-Bottiglio. Pilot analysis of the impacts of soft robotics design on high-school student engineering perceptions." International Journal of Technology and Design Education, p. 1-22, 20119.

    • 2018

  • J. Booth, D. Shah, J. Case, E. White, M. Yuen, O. Cyr-Choiniere, R. Kramer-Bottiglio. "OmniSkins: Robotic skins that turn inanimate objects into multifunctional robots." Science Robotics, Vol. 3, No. 22, p. eaat1853, 2018.

  • T. Buckner, R. Kramer-Bottiglio. "Functional fibers for robotic fabrics." Multifunctional Materials, Vol. 1, No. 1, p. 012001, 2018.

  • S. Liu, M. Yuen, E. White, J. Boley, B. Deng, G. Cheng, R. Kramer-Bottiglio. "Laser sintering of liquid metal nanoparticles for scalable manufacturing of soft and flexible electronics." ACS Applied Materials and Interfaces, Vol. 10, No. 33, p. 28232–28241, 2018.

  • S. Liu, E. Boatti, K. Bertoldi, R. Kramer-Bottiglio. "Stimuli-induced bi-directional hydrogel unimorph actuators." Extreme Mechanics Letters, Vol. 21, p. 35-43, 2018.

  • M. C. Yuen, T. Lear, H. Tonoyan, M. Telleria, R. Kramer-Bottiglio "Toward closed-loop control of pneumatic grippers during pack-and-deploy operations." IEEE Robotics and Automation Letters, Vol. 3, No. 3, 1402-1409.

  • E. White, J. Case, R. Kramer. "A soft parallel kinematic mechanism." Soft Robotics, Vol. 5, No. 1, p. 36-53, 2018.

  • J. Case, E. White, V. SunSpiral, R. Kramer. "Reducing actuator requirements in continuum robots through optimized cable routing." Soft Robotics, Vol. 5, No. 1, p. 109-118, 2018.

    • 2017

  • Y. Menguc, N. Correll, R. Kramer, J. Paik. "Will robots be bodies with brains or brains with bodies?" Science Robotics, Vol. 2, No. 12, p. eaar4527, 2017.

  • R. Bilodeau, R. Kramer. "Self-healing and damage resilience for soft robotics: A review." Frontiers in Robotics and AI: Soft Robotics, Vol. 4, p. 48, 2017.

  • J. Zhang, A. Jackson, N. Mentzer, R. Kramer. "A modular, reconfigurable mold for a soft robotic gripper design activity." Frontiers in Robotics and AI: Soft Robotics, Vol. 4, p. 46, 2017.

  • E. White, M. Yuen, J. Case, R. Kramer. "Low-cost, facile, and scalable manufacturing of capacitive sensors for soft systems." Advanced Materials Technologies, Vol. 2, No. 9, p. 1700072, 2017.

  • R. Bilodeau, D. Zemlyanov, R. Kramer. "Liquid metal switches for environmentally responsive electronics." Advanced Materials Interfaces, Vol. 4, No. 5, p. 1600913, 2017.

  • T. Lear, S. H. Hyun, E. White, J. Boley, D. Thompson, R. Kramer. "Liquid metal particle popping: Macroscale to nanoscale." Extreme Mechanics Letters, Vol. 13, p. 126-134, 2017.

  • M. Mohammed, R. Kramer. "All-printed flexible and stretchable electronics." Advanced Materials, Vol. 29, No. 19, p. 1604965, 2017.

  • E. White, J. Case, R. Kramer. "Multi-mode strain and curvature sensors for soft robotic applications." Sensors and Actuators A: Physical, Vol. 253, p. 188-197, 2017.

    • 2016

  • J. Boley, S. Hyun, E. White, D. Thompson, R. Kramer. "Hybrid self-assembly during evaporation enables drop-on-demand thin film devices." ACS Applied Materials and Interfaces, Vol. 8, No. 50, p. 34171-34178, 2016. (Cover Article)

  • M. Yuen, R. Bilodeau, R. Kramer. "Active variable stiffness fibers for multifunctional robotic fabric." IEEE Robotics and Automation Letters, Vol. 1, No. 2, p. 708-715, 2016.

  • J. Case, E. White, R. Kramer. "Sensor enabled closed-loop bending control of soft beams." Smart Materials and Structures, Vol. 25, No. 4, p. 045018, 2016.

  • E. White, J. Case, R. Kramer. "Multi-element strain gauge modules for soft sensory skins." IEEE Sensors, Vol. 16, No. 8, p. 2607-2616, 2016.

  • J. Case, M. Yuen, M. Mohammed, R. Kramer. "Sensor skins: An overview." in Stretchable Bioelectronics for Medical Devices and Systems, p. 173-191, Springer, Cham, 2016.

    • 2015

  • J. Case, E. White, R. Kramer. "Soft material characterization for robotic applications." Soft Robotics, Vol. 2, No. 2, p. 80-87, 2015.

  • J. Boley, E. White, R. Kramer. "Mechanically-sintered gallium-indium nanoparticles." Advanced Materials, Vol. 27, No. 14, p. 2355-2360, 2015. (Cover Article)

    • 2014 and Prior

  • J. Boley, E. White, G. Chiu, R. Kramer. "Direct writing of gallium-indium alloy for stretchable electronics." Advanced Functional Materials, Vol. 24, No. 23, p. 3501-3507, 2014. (Cover Article)

  • R. Kramer, J. Boley, H. Stone, J. Weaver, R. Wood. "Effect of microtextured surface topography on the wetting behavior of eutectic gallium-indium alloys." Langmuir, Vol. 30, No. 2, p. 533-539, 2014.

  • F. Hammond, R. Kramer, Q. Wan, R. Howe, R. Wood. "Soft tactile sensor arrays for force feedback in micromanipulation." IEEE Sensors, Vol. 14, No. 5, p. 1443-1452, 2014.

  • C. Majidi, R. Shepherd, R. Kramer, G. Whitesides, R. Wood. "Influence of surface traction on soft robot undulation." International Journal of Robotics Research, Vol. 32, No. 13, p. 1577-1584, 2013.

  • R. Kramer, C. Majidi, R. Wood. "Masked deposition of gallium-indium alloys for liquid-embedded elastomer conductors." Advanced Functional Materials, Vol. 23, No. 42, p. 5292-5296, 2013.

  • C. Majidi, R. Kramer, R. Wood. "Non-differential elastomer curvature sensor for softer-than-skin electronics." Smart Materials and Structures, Vol. 20, No. 10, p. 105017, 2011.

  • Y. Park, C. Majidi, R. Kramer, P. Berard, and R. Wood. "Hyperelastic pressure sensing with a liquid-embedded elastomer." Journal of Micromechanics and Microengineering, Vol. 20, No. 12, p. 125029, 2010.

  • R. Kramer, C. Majidi, R. Wood. "Shear-mode contact splitting for a micro-textured elastomer film." Advanced Materials, Vol. 22, No. 33, p. 3700-3703, 2010.

  • R. Kramer, N. Pholchai, V. Sorger, T. Yim, R. Oulton, X. Zhang. "Positioning of quantum dots on metallic nanostructures." Journal of Nanotechnology, Vol. 21, No, 14, p. 145307, 2010. (Cover Article)

    • Conference Publications

    2021

  • W. Johnson, J. Booth, R. Kramer-Bottiglio. "Integrated Sensing in Robotic Skin Modules.'' IEEE Sensors (to appear), 2021.

  • S. Kriegman, A. Mohammadi Nasab, H. Steele, M. Levin, R. Kramer-Bottiglio, J. Bongard. "Scale Invariant Robot Behavior with Fractals.'' Robotics: Science and Systems (RSS), 2021.

  • T. Buckner, R. Kramer-Bottiglio. "Design parameters for stacked-ribbon shape-memory alloy bending actuators." IEEE International Conference on Soft Robotics (RoboSoft), 2021.

  • E. Porte, T. Sipple, L. Sanchez Botero, D. Shah, R. Kramer-Bottiglio. "Capacitive sensor measurement rate improves by pre-stretching." IEEE International Conference on Soft Robotics (RoboSoft), 2021.

  • R. Baines, S. Patiballa, R. Kramer-Bottiglio. "Rapidly reconfigurable inextensible inflatables." IEEE International Conference on Soft Robotics (RoboSoft), 2021.

  • B. Yang, J. Powers, A. Parsa, J. Bongard, R. Kramer-Bottiglio. "Shape matching: Evolving fiber constraints on a pneumatic bilayer." IEEE International Conference on Soft Robotics (RoboSoft), 2021.

    • 2020

  • T. Buckner, M. Yuen, S. Y. Kim, R. Kramer-Bottiglio. "Shape memory silicone using phase-changing inclusions." IEEE Int. Conference on Soft Robotics (RoboSoft), 2020.

  • S. Kriegman, A. M. Nasab, D. Shah, H. Steele, G. Branin, M. Levin, J. Bongard, R. Kramer-Bottiglio. "Scalable sim-to-real transfer of soft robot designs." IEEE Int. Conference on Soft Robotics (RoboSoft), 2020.

    • 2019

  • S. Kriegman, S. Walker, D. Shah, M. Levin, R. Kramer-Bottiglio, J. Bongard. "Automated shapeshifting for function recovery in damaged robots." Robotics: Science and Systems, 2019.

  • L. Chin, M. Yuen, J. Lipton, L. Trueba, R. Kramer-Bottiglio, D. Rus. "A simple electric soft robotic gripper with high-deformation haptic feedback." IEEE Int. Conference on Robotics and Automation (ICRA), 2019.

  • L. Chin, J. Lipton, M. Yuen, R. Kramer-Bottiglio, D. Rus. "Automated recyling separation enabled by soft robotic material classification." IEEE Int. Conference on Soft Robotics (RoboSoft), 2019. (Best Poster Winner)

  • R. Baines, J. Booth, F. Fish, R. Kramer-Bottiglio. "Toward a bio-inspired variable-stiffness morphing limb for amphibious robot locomotion." IEEE Int. Conference on Soft Robotics (RoboSoft), 2019. (Best paper finalist).

  • V. J. Barone, M. Yuen, R. Kramer-Bottiglio, K. H. Sienko. "Sensory garments with vibrotactile feedback for monitoring and informing seated posture." IEEE Int. Conference on Soft Robotics (RoboSoft), 2019.

    • 2018

  • R. Bilodeau, M. Yuen, J. Case, T. Buckner, R. Kramer-Bottiglio. "Design for control of a soft bidirectional bending actuator." IEEE Int. Conference on Intelligent Robots and Systems (IROS), 2018.

  • J. McCaw, M. Yuen, R. Kramer-Bottiglio. "Sensory glove for dynamic hand proprioception and tactile sensing." ASME Int. Design Engineering Technical Conferences, 2018.

  • R. Bilodeau, A. Miriyev, H. Lipson, R. Kramer-Bottiglio. "All-soft material system for strong soft actuators." IEEE Int. Conference on Soft Robotics (RoboSoft), 2018. (Best Student Paper Award)

  • J. Case, J. Booth, D. Shah, M. Yuen, R. Kramer-Bottiglio. "State and stiffness estimation using robotic fabrics." IEEE Int. Conference on Soft Robotics (RoboSoft), 2018.

  • J. Booth, J. Case, E. White, D. Shah, R. Kramer-Bottiglio. "An addressable pneumatic regulator for distributed control of soft robots." IEEE Int. Conference on Soft Robotics (RoboSoft), 2018.

  • H. Sonar, M. Yuen, R. Kramer-Bottiglio, J. Paik. "An any-resolution distributed pressure localization scheme using a capacitive soft sensor skin." IEEE Int. Conference on Soft Robotics (RoboSoft), 2018.

  • M. Yuen, R. Kramer-Bottiglio, J. Paik. "Strain sensor-embedded soft pneumatic actuators and extension and bending feedback." IEEE Int. Conference on Soft Robotics (RoboSoft), 2018. (Best Poster Finalist)

    • 2017

  • E. White, M. Yuen, R. Kramer. "Distributed sensing in capacitive conductive composites." IEEE Sensors, 2017.

  • E. White, J. Case, R. Kramer. "Reconfigurable logic devices connected with laser-sintered liquid metal nanoparticles." IEEE Sensors, 2017.

  • T. Buckner, E. White, M. Yuen, R. Bilodeau, R. Kramer. "A move-and-hold pneumatic actuator enabled by self-softening variable stiffness materials." IEEE Int. Conference on Intelligent Robots and Systems (IROS), 2017.

  • M. Yuen, H. Tonoyan, E. White, M. Telleria, R. Kramer. "Fabric sensory sleeves for soft robot state estimation." IEEE Int. Conference on Robotics and Automation (ICRA), 2017.

    • 2016

  • M. Yuen, R. Kramer. "Fabricating microchannels in elastomer substrates for stretchable electronics." ASME Manufacturing Science and Engineering Conference, 2016.

    • 2015

  • R. Bilodeau, E. White, R. Kramer. "Monolithic fabrication of sensors and actuators in a soft robotic gripper." IEEE Int. Conference on Intelligent Robots and Systems (IROS), 2015.

  • R. Kramer. "Soft electronics for soft robotics." Proceedings of SPIE, in Micro- and nanotechnology sensors, systems, and applications VII, 2015. (Best Paper Award)

  • L.-H. Chen, P. Keegan, M. Yuen, A.M. Agogino, R. Kramer, A.K. Agogino, V. SunSpiral. "Soft robots using compliant tensegrity structures and soft sensors." IEEE Int. Conference on Robotics and Automation (ICRA), 2015.

    • 2014 and Prior

  • M. Yuen, A. Cherian, J. Case, J. Seipel, R. Kramer. "Conformable actuation and sensing with robotic fabric." IEEE Int. Conference on Intelligent Robots and Systems (IROS), 2014.

  • T. Chenal, J. Case, J. Paik, R. Kramer. "Variable stiffness fabrics with embedded shape memory materials for wearable applications." IEEE Int. Conference on Intelligent Robots and Systems (IROS), 2014.

  • F. Hammond, R. Kramer, Q. Wan, R.D. Howe, R. Wood. "Soft tactile sensor arrays for micro-manipulation." IEEE Int. Conference on Intelligent Robots and Systems (IROS), 2012.

  • R. Kramer, C. Majidi, R. Sahai, R. Wood. "Soft curvature sensors for joint angle proprioception." IEEE Int. Conference on Intelligent Robots and Systems (IROS), 2011.

  • J. Paik, R. Kramer, R. Wood. "Stretchable circuits and sensors for robotic origami." IEEE Int. Conference on Intelligent Robots and Systems (IROS), 2011.

  • R. Kramer, C. Majidi, R. Wood. "Wearable tactile keypad with stretchable artificial skin." IEEE Int. Conference on Robotics and Automation (ICRA), 2010.

  • S. Wodin-Schwartz, D. Myers, R. Kramer, S. Choi, A. Jordan, M. Wijesundara, M. Hopcroft, A. Pisano. "Silicon and silicon carbide survivability in an in-cylinder combustion environment." PowerMEMS, 2008.

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