A Framework for Adaptive Width Control of Dense Contour-Parallel Toolpaths in Fused Deposition Modeling

3D printing techniques such as Fused Deposition Modeling (FDM) have enabled the fabrication of complex geometry quickly and cheaply. Objects are produced by filling (a portion of) the 2D polygons of consecutive layers with contour-parallel extrusion toolpaths. Uniform width toolpaths consisting of inward offsets from the outline polygons...

Color-Based Proprioception of Soft Actuators Interacting with Objects

Actuators using soft materials feature a large number of degrees of freedom. This tremendous flexibility allows a soft actuator to passively adapt its shape to the objects under interaction. In this paper, we propose a novel proprioception method for soft actuators during real-time interaction with previously unknown objects. First, we design...