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Substance use disorders affect 17.3% of Americans. Digital health solutions that use machine learning to detect substance use from wearable biosignal data can eventually pave the way for real-time digital interventions. However, difficulties in addressing severe between-subject data heterogeneity have hampered the adaptation of machine learning approaches for substance use detection, necessitating more robust technological solutions. We tested the utility of personalized machine learning using participant-specific convolutional neural networks (CNNs) enhanced with self-supervised learning (SSL) to detect drug use. In a pilot feasibility study, we collected data from 9 participants using Fitbit Charge 5 devices, supplemented by ecological momentary assessments to collect real-time labels of substance use. We implemented a baseline 1D-CNN model with traditional supervised learning and an experimental SSL-enhanced model to improve individualized feature extraction under limited label conditions. Results: Among the 9 participants, we achieved an average area under the receiver operating characteristic curve score across participants of 0.695 for the supervised CNNs and 0.729 for the SSL models. Strategic selection of an optimal threshold enabled us to optimize either sensitivity or specificity while maintaining reasonable performance for the other metric. Conclusion: These findings suggest that Fitbit data have the potential to enhance substance use monitoring systems. However, the small sample size in this study limits its generalizability to diverse populations, so we call for future research that explores SSL-powered personalization at a larger scale. 

Snake robotics is an important research topic with a wide range of applications, including inspection in confined spaces, search-and-rescue, and disaster response. Snake robots are well-suited to these applications because of their versatility and adaptability to unstructured and constrained environments. In this paper, we introduce a soft pneumatic robotic snake that can imitate the capabilities of biological snakes, its soft body can provide flexibility and adaptability to the environment. This paper combines soft mobile robot modeling, proprioceptive feedback control, and motion planning to pave the way for functional soft robotic snake autonomy. We propose a pressure-operated soft robotic snake with a high degree of modularity that makes use of customized embedded flexible curvature sensing. On this platform, we introduce the use of iterative learning control using feedback from the on-board curvature sensors to enable the snake to automatically correct its gait for superior locomotion. We also present a motion planning and trajectory tracking algorithm using an adaptive bounding box, which allows for efficient motion planning that still takes into account the kinematic state of the soft robotic snake. We test this algorithm experimentally, and demonstrate its performance in obstacle avoidance scenarios. 

Soft robots are theoretically well-suited to rescue and exploration applications where their flexibility allows for the traversal of highly cluttered environments. However, most existing mobile soft robots are not fast or powerful enough to effectively traverse three dimensional environments. In this paper, we introduce a new mobile robot with a continuously deformable slender body structure, the SalamanderBot, which combines the flexibility and maneuverability of soft robots, with the speed and power of traditional mobile robots. It consists of a cable-driven bellows-like origami module based on the Yoshimura crease pattern mounted between sets of powered wheels. The origami structure allows the body to deform as necessary to adapt to complex environments and terrains, while the wheels allow the robot to reach speeds of up to 303.1 mm/s (2.05 body-length/s). Salamanderbot can climb up to 60-degree slopes and perform sharp turns with a minimum turning radius of 79.9 mm (0.54 body-length). 

In this work, we present a framework that is capable of accurately representing soft robotic actuators in a multiphysics environment in real-time. We propose a constraint-based dynamics model of a 1-dimensional pneumatic soft actuator that accounts for internal pressure forces, as well as the effect of actuator latency and damping under inflation and deflation and demonstrate its accuracy a full soft robotic snake with the composition of multiple 1D actuators. We verify our model's accuracy in static deformation and dynamic locomotion open-loop control experiments. To achieve real-time performance we leverage the parallel computation power of GPUs to allow interactive control and feedback.