Jonathon Cleary

The Ohio State University, North Carolina State University

Papers

Total Citations

205

H-Index

About

Jonathon Cleary is a pioneer in the field of soft robotics, best known for his groundbreaking work on the design and fabrication of bio-inspired, sensorized robotic hands. His most influential contribution, the 2015 paper "Design and Fabrication of a Soft Robotic Hand With Embedded Actuators and Sensors," has garnered over 200 citations and remains a foundational reference in the field. In this work, Cleary introduced a fully integrated, five-fingered soft humanoid hand that combines shape memory alloy (SMA) actuators with piezoelectric transducer (PZT) flexure sensors, tackling the formidable challenges of precise actuation control and embedded sensing in compliant structures. This innovation marked a significant step toward creating dexterous, safe, and adaptive robotic grippers for human-centric applications. Beyond soft robotics, Cleary has also explored advanced manufacturing techniques, including CNC milling for custom shoe last fabrication—a process aimed at reducing cost and labor in medical orthopedics. Though this earlier work received fewer citations, it reflects his broader interest in bridging engineering and practical healthcare solutions. Cleary’s research continues to inspire new generations of roboticists working at the intersection of materials science, control, and human-robot interaction.