Surya Girinatha Nurzaman

• PhD
• Lecturer at Monash University Malaysia

Soft hand exoskeleton is one of the technological alternatives for patients with hand paralysis. Several designs had been proposed to assist these patients to improve their quality of life. However, some of them are heavy and bulky and are not suitable for daily use. This work proposes a lightweight soft hand exoskeleton that can be activated using...

Sensory data such as bending curvature and contact force are essential for controlling soft robots. However, it is inconvenient to measure these variables because sensorizing soft robots is difficult due to their inherent softness. An attractive alternative is to use an observer/filter to estimate the variables that would have been measured by thos...

Despite recent advances in the development of various types of soft grippers, much of it have focused on the implementation of the grippers in static and stable robots like industrial robotic arms. However, for ungrounded mobile robots such as flying robots or space vehicles, position or orientation errors as well as perturbation due to undesirable...

Sensor data play a significant role in the control of robotic systems. While soft robotics is promising for operation in unstructured environments, it is difficult to integrate sensors into soft robots because their inherent softness can be disturbed by the use of sensors. One way to overcome this challenge is to use an observer/filter to estimate...

Sensory data play a significant role in the control of robots. While soft robots are promising for operation in unstructured environments, it may be difficult to implement sensor on them due to their inherent softness. One way to overcome this challenge is to use an observer/filter to estimate the variables (states) that would have been measured by...

There has been a boost of research activities in robotics using soft materials in the past ten years. It is hoped that the use and control of soft materials can help realize robotic systems that are safer, cheaper, and more adaptable than the level that the conventional rigid-material robots can achieve. Different from a number of existing review o...

There has been a boost of research activities in robotics using soft materials in the past ten years. It is expected that the use and control of soft materials can help realize robotic systems that are safer, cheaper, and more adaptable than the level that the conventional rigid-material robots can achieve. Contrary to a number of existing review a...

In existing work of sliding mode observers for descriptor systems, a necessary condition is that the system must be infinitely observable. This paper presents a scheme that circumvents that condition, by reformulating the system as a reduced-order system where certain structures in the system matrix are manipulated and certain states are treated as...

The articles in this special section focus on the development and manufacture of soft robotics.

Sensor morphology, the morphology of a sensing mechanism which plays a role of shaping the desired response from physical stimuli from surroundings to generate signals usable as sensory information, is one of the key common aspects of sensing processes. This paper presents a structured review of researches on bioinspired sensor morphology implement...

While, in nature, changes of morphology such as body shape, size, and strength play essential roles in animals’ adaptability in a variety of environment, our robotic systems today still severely suffer from the lack of flexibility in morphology which is one of the most significant bottlenecks for their autonomy and adaptability. With the ability to...

The realization and utilization of multimodal locomotion to enable robots to accomplish useful tasks is a significantly challenging problem in robotics. Related to the challenge, it is crucial to notice that the locomotion dynamics of the robots is a result of interactions between a particular control structure and its body-environment dynamics. Fr...

One of the most significant challenges in bio-inspired robotics is how to realize and take advantage of multimodal locomotion, which may help robots perform a variety of tasks adaptively in different environments. In order to address the challenge properly, it is important to notice that locomotion dynamics are the result of interactions between a...

Robots composed of soft materials can achieve high deformability and conformity with unstructured and dynamic environments due to their body mechanics. However, it is challenging to gather desirable information about these robots' behaviors as conventional sensory systems are not designed to detect infinite degrees of freedom on continuum bodies. T...

Robotics education poses a significant challenge because it involves a number of different technological components and disciplines. So far most of the existing teaching approaches focus on robots with fixed morphologies and rigid structures, which cover only subsets of the entire spectrum of the related knowledge. From this perspective, this artic...

Soft material structures exhibit high deformability and conformability which can be useful for many engineering applications such as robots adapting to unstructured and dynamic environments. However, the fact that they have almost infinite degrees of freedom challenges conventional sensory systems and sensorization approaches due to the difficultie...

Recent advances in soft and smart materials, compliant mechanisms, and a new paradigm of intelligence have led to the development of soft robots: engineered machines largely built of soft materials. Because of their soft and deformable bodies, soft robots are expected to be able to accomplish tasks in unstructured environments and safely interact w...

Guided self-organization can be regarded as a paradigm proposed to understand how to guide a self-organizing system towards desirable behaviors, while maintaining its non-deterministic dynamics with emergent features. It is, however, not a trivial problem to guide the self-organizing behavior of physically embodied systems like robots, as the behav...

Despite the widespread use of sensors in engineering systems like robots and automation systems, the common paradigm is to have fixed sensor morphology tailored to fulfill a specific application. On the other hand, robotic systems are expected to operate in ever more uncertain environments. In order to cope with the challenge, it is worthy of note...

The use of soft and deformable materials in robotic systems has increasingly gained interest in recent years. Because of its potential to deal with uncertain and unstructured task environments, soft-body robotic systems are expected to be able to accomplish tasks such as grasping and manipulation of unknown objects, locomotion in rough terrains, an...

This paper discusses the position of cognitive science in modern sciences through examination of embodied cognition process in the psychological therapy. We introduce the cases when people are memorizing or recalling their memories by looking at photos, talking about them, and performing particular sensorimotor function. It is well known in the con...

Biological creatures, some of them are very simple, seem to perform efficient search strategy. Recent researches show that noise in their internal mechanism may have an important role to manage this behavior. This paper focuses on realizing a simple, noise utilizing, mathematical framework that enables a mobile robot to perform random search adapti...

Biologically inspired techniques have been widely investigated for realizing adaptive searching behaviour in a mobile robot. In this paper, we propose a framework based on ldquoYuragirdquo, a Japanese word for biological fluctuation. Yuragi-based framework is simple, has a noise-utilizing novelty to keep the robot searching for the goal, while its...

The paper describes a biologically inspired navigation system based on attractor selection mechanism. The robot can reach a particular signal source as a goal, with only a simple sensor and without a model of the environment. It is, therefore, robust to changes in the environment. The novelty of this approach is that it utilizes noise in the naviga...