Soft robotics • thermal actuation • embedded sensing

Trevor W. Exley

I build monolithic, thermo-active soft systems and data-driven biomechanics tools.

I’m a postdoctoral researcher at the Istituto Italiano di Tecnologia (IIT) in Genova. I build thermo-active soft robotic systems and investigate sensing + control for compliant manipulation.

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Monolithic Units: Actuation, Sensing, and Simulation for Integrated Soft Robot Design

2026

A monolithic actuator–lattice–sensor building block (MU) with simulation-informed optical waveguide placement to preserve mechanical response.

MELEGROS: Monolithic Elephant-inspired Gripper with Optical Sensors

2025

A monolithic elephant-inspired gripper integrating optical sensing for contact-rich manipulation.

Agonist–Antagonist Pouch Motors: Bidirectional Soft Actuators Enhanced by Thermally Responsive Peltier Elements

2024

A bidirectional soft actuator architecture using agonist–antagonist pouch motors and thermoelectric control to achieve tunable force, stiffness, and dynamic response.

TVIM: Thermoactive Variable Impedance Module Evaluating Shear-Mode Capabilities of Polycaprolactone

2023

A thermoactive variable impedance module using phase-transition polycaprolactone to tune shear stiffness via embedded thermoelectric actuation.