Zachary Brei

University of Michigan–Ann Arbor, Michigan Medicine

Papers

Total Citations

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About

Zachary Brei is a rising roboticist whose work bridges the critical gap between safety and dexterity in autonomous systems. His research centers on two high-stakes frontiers: real-time, safe motion planning for manipulation, and the mechanics of soft, fluid-driven robots. In his highly cited 2024 paper, "Serving Time," Brei tackles the challenge of enabling robots to manipulate unsecured objects safely in human proximity—a fundamental hurdle for ubiquitous robotics. This work, with 8 citations, proposes algorithms that guarantee real-time safety without sacrificing performance. Complementing this, Brei has made significant contributions to soft robotics through his parametric study of HASEL actuators for out-of-plane bending (3 citations) and his introduction of the "Fluid Jacobian" (2 citations). This novel concept generalizes the traditional kinematic Jacobian to describe power transmission between fluid and mechanical domains in soft systems, offering a unified framework for modeling force-motion relationships. By advancing both the control of rigid manipulators and the modeling of soft actuators, Brei is helping to define the next generation of robots that can work safely and effectively alongside people.