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Fingertip 6-axis force sensor for robotic grasping and manipulation
Grasping and Manipulation of unknown objects in robotics requires forces to be detected in a precise and robust way. Goal of this project is to design state of the art solution for contact detection in such applications.
In this project a miniaturized force torque sensor and its embedded electronics are going to be developed. The sensor should be able to measure 3 forces, 3 moments , 3 accelerations and 3 angular velocities. While 3 force may seem enough to detect the interaction, the redundant information can be used to estimate point of contact and object position. This can be very beneficial for grasping and manipulation unknown objects in a robust and reliable way and give the field a boost towards dexterous manipulation.
In this project a miniaturized force torque sensor and its embedded electronics are going to be developed. The sensor should be able to measure 3 forces, 3 moments , 3 accelerations and 3 angular velocities. While 3 force may seem enough to detect the interaction, the redundant information can be used to estimate point of contact and object position. This can be very beneficial for grasping and manipulation unknown objects in a robust and reliable way and give the field a boost towards dexterous manipulation.
- Literature study on grasping and tactile sensing.
- Conceptual design of the electronic hardware.
- Evaluation of prototype Data Acquisition solution.
- PCB design and evaluation of the miniaturized solution.
- Detailed CAD Design and fabrication of it.
- Testing and evaluation of the sensor suit.
- Detailed reporting of the results and thorough comparison with other fingertip sensing solution.
- Literature study on grasping and tactile sensing. - Conceptual design of the electronic hardware. - Evaluation of prototype Data Acquisition solution. - PCB design and evaluation of the miniaturized solution. - Detailed CAD Design and fabrication of it. - Testing and evaluation of the sensor suit. - Detailed reporting of the results and thorough comparison with other fingertip sensing solution.
- High motivation and interest in the topic.
- Methodological and goal-oriented working behavior.
- Firmware development experience. Arduino experience.
- Familiar with PCB CAD design.
- Basic C++/Python.
- High motivation and interest in the topic. - Methodological and goal-oriented working behavior. - Firmware development experience. Arduino experience. - Familiar with PCB CAD design. - Basic C++/Python.
Please contact Klajd Lika klajd.lika@mavt.ethz.ch for any questions. Your application should include a brief motivational statement, your transcript of records and your CV.
Please contact Klajd Lika klajd.lika@mavt.ethz.ch for any questions. Your application should include a brief motivational statement, your transcript of records and your CV.
Overview of Mechatronics topics and study subjects. Identification of minimum 10 pertinent refereed articles or works in the literature in consultation with supervisor or instructor. After 4 weeks, submission of a 2-page proposal outlining the value, state-of-the art and study plan based on these articles. After feedback on the substance and technical writing by the instructor, project commences.