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ASU Electronic Theses and Dissertations

This collection includes most of the ASU Theses and Dissertations from 2011 to present. ASU Theses and Dissertations are available in downloadable PDF format; however, a small percentage of items are under embargo. Information about the dissertations/theses includes degree information, committee members, an abstract, supporting data or media.

In addition to the electronic theses found in the ASU Digital Repository, ASU Theses and Dissertations can be found in the ASU Library Catalog.

Dissertations and Theses granted by Arizona State University are archived and made available through a joint effort of the ASU Graduate College and the ASU Libraries. For more information or questions about this collection contact or visit the Digital Repository ETD Library Guide or contact the ASU Graduate College at

A robotic swarm can be defined as a large group of inexpensive, interchangeable robots with limited sensing and/or actuating capabilities that cooperate (explicitly or implicitly) based on local communications and sensing in order to complete a mission. Its inherent redundancy provides flexibility and robustness to failures and environmental disturbances which guarantee the proper completion of the required task. At the same time, human intuition and cognition can prove very useful in extreme situations where a fast and reliable solution is needed. This idea led to the creation of the field of Human-Swarm Interfaces (HSI) which attempts to incorporate the human …

Karavas, Georgios Konstantinos, Artemiadis, Panagiotis, Berman, Spring M., et al.
Created Date

This work presents the integration of user intent detection and control in the development of the fluid-driven, wearable, and continuum, Soft Poly-Limb (SPL). The SPL utilizes the numerous traits of soft robotics to enable a novel approach to provide safe and compliant mobile manipulation assistance to healthy and impaired users. This wearable system equips the user with an additional limb made of soft materials that can be controlled to produce complex three-dimensional motion in space, like its biological counterparts with hydrostatic muscles. Similar to the elephant trunk, the SPL is able to manipulate objects using various end effectors, such as …

Vale, Nicholas Marshall, Polygerinos, Panagiotis, Zhang, Wenlong, et al.
Created Date