Publications
2026
Exley T., Johnson D., Jafari A.
Estimating stiffness and damping of a novel variable impedance actuator based on adjusting viscoelastic properties of thermoresponsive polycaprolactone in harmonic motions
Scientific Reports, vol. 16, (no. 1)
2026
Trunin P., Cafiso D., Nardin A. B., Exley T., Beccai L.
MELEGROS: Monolithic Elephant-inspired Gripper with Optical Sensors
Advanced Science
2026
Exley T., Nardin A.B., Trunin P., Cafiso D., Beccai L.
Monolithic Units: Actuation, Sensing, and Simulation for Integrated Soft Robot Design
ROBOSOFT 2026 - 9th IEEE RAS International Conference on Soft Robotics, pp. 504-511
2026
Johnson D., Exley T., Torres M.-A., Slayton J., Ecker M., Jafari A.
Tailoring silicone mixtures for soft robotics: predictive modeling and experimental validation in pneumatic soft actuators
Bioinspiration and Biomimetics, vol. 21, (no. 4)
2025
Jenkins J., Madera O., Guerrero C., Humes K., Malmquist A., Renfrew C., Bakker Q., Siu K.K.-M., Exley T., Jafari A.
Design and Implementation of a High-Precision Motor Control System for Adjustable-Stiffness Biomedical Treadmills
Proceedings of the IEEE Dallas Circuits and Systems Conference, DCAS, (no. 2025)
2025
Jenkins J., Madera O., Guerrero C., Humes K., Malmquist A., Renfrew C., Bakker Q., Siu K. K., Exley T., Jafari A.
Design and Implementation of a High-Precision Motor Control System for Adjustable-Stiffness Biomedical Treadmills
2025 IEEE 18th Dallas Circuits and Systems Conference (DCAS)
Conference Paper
Conference
2025
Tajomi F., Exley T., Jafari A.
Development of a Miniature Thermal-Based Variable Impedance Actuator Using Thermoplastic Polymers for Scalable and Compact Robotic Applications
Proceedings of the IEEE Dallas Circuits and Systems Conference, DCAS, (no. 2025)
2025
Tajomi F., Exley T., Jafari A.
Development of a Miniature Thermal-Based Variable Impedance Actuator Using Thermoplastic Polymers for Scalable and Compact Robotic Applications
2025 IEEE 18th Dallas Circuits and Systems Conference (DCAS)
Conference Paper
Conference
2025
Exley T., Wijesundara R., Wang S., Moridani A., Nilforooshan T., Jafari A.
TVIM: Thermoactive Variable Impedance Module Evaluating Shear-Mode Capabilities of Polycaprolactone
IEEE Access
2024
Exley T., Wijesundara R., Tan N., Sunkara A., He X., Wang S., Chan B., Jain A., Espinosa L., Jafari A.
Agonist-Antagonist Pouch Motors: Bidirectional Soft Actuators Enhanced by Thermally Responsive Peltier Elements
IEEE International Conference on Intelligent Robots and Systems, pp. 9214-9220
2024
Exley T., Wijesundara R., Tan N., Sunkara A., He X., Wang S., Chan B., Jain A., Espinosa L., Jafari A.
Agonist-Antagonist Pouch Motors: Bidirectional Soft Actuators Enhanced by Thermally Responsive Peltier Elements
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Conference Paper
Conference
2024
Exley T., Johnson D., Jafari A.
Comparative Analysis of Peltier Devices and Flexible Heater Strips for Enhancing Bandwidth in Thermo-Active Soft Actuators
Journal of Medical Robotics Research, vol. 9, (no. 3-4)
2024
Exley T., Johnson D., Jafari A.
Comparative Analysis of Peltier Devices and Flexible Heater Strips for Enhancing Bandwidth in Thermo-Active Soft Actuators
Journal of Medical Robotics Research
Article
Journal
2024
Ruiz K., Ryan S., Stutsman S., Tirumala T., Williams J., Wijesundara R., Exley T., Jafari A.
Design considerations of Peltier-Integrated Therapeutic Wrist Wrap for Medical Applications
Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings
2024
Ruiz K., Ryan S., Stutsman S., Tirumala T., Williams J., Wijesundara R., Exley T., Jafari A.
Design considerations of Peltier-Integrated Therapeutic Wrist Wrap for Medical Applications
2024 46th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)
Conference Paper
Conference
2024
Exley T.
Thermo-Reversible Phase-Change Actuators for Physical Human-Robot Interactions
PhD Thesis
Book
2024
Exley T., Hays E., Johnson D., Moridani A., Motati R., Jafari A.
Toward a Unified Naming Scheme for Thermo-Active Soft Actuators: A Review of Materials, Working Principles, and Applications
Robotics Reports
Review
Journal
2023
Exley T., Johnson D., Jafari A.
A Novel Variable Impedance Actuator Utilizing Adjustable Viscoelastic Properties of Thermoresponsive Polycaprolactone
Robotics Reports
Article
Journal