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Proprioceptive sensors for a soft robotic arm enabling interactions with the environment
Evaluate and develop a capacitive sensor system for a pneumatic soft robotic am that is effective at gaining information about its pose and contact state, and implement behaviors that can take advantage of such sensors.
Keywords: Soft robotics, proprioception, robotics, system identification, control, capacitive sensors
Soft robots, due to their inherent compliance, are expected to be used in scenarios where traditional, rigid-linked robots cannot be used, such as in close proximity to humans. However, their soft bodies make it harder to incorporate sensors onto them, and what sensor modality is sufficient to construct an effective soft robot remains an open question.
In this project, you will be designing proprioceptive touch sensors for a soft continuum pneumatic arm, and explore what kind of behaviours can be achieved with such sensors. The Soft continuum Proprioceptive Arm (SoPrA) has been designed as a platform to conduct research on the design and control of soft robotic arms [1]. The arm has 3 pneumatic chambers in each segment which can be individually actuated. It currently contains a flex sensor from Bend Labs, which can measure the bending state of the robot.
Through this project, you will implement on this arm a soft capacitive sensor that can detect touch. This can be based off of an existing method for embedding electronics in silicone. You will explore the most effective configuration of the sensor for SoPrA, and develop the suite of electronics that are required to read out from the sensors, and integrate them into SoPrA.
**Please see attached document for details**
Soft robots, due to their inherent compliance, are expected to be used in scenarios where traditional, rigid-linked robots cannot be used, such as in close proximity to humans. However, their soft bodies make it harder to incorporate sensors onto them, and what sensor modality is sufficient to construct an effective soft robot remains an open question.
In this project, you will be designing proprioceptive touch sensors for a soft continuum pneumatic arm, and explore what kind of behaviours can be achieved with such sensors. The Soft continuum Proprioceptive Arm (SoPrA) has been designed as a platform to conduct research on the design and control of soft robotic arms [1]. The arm has 3 pneumatic chambers in each segment which can be individually actuated. It currently contains a flex sensor from Bend Labs, which can measure the bending state of the robot.
Through this project, you will implement on this arm a soft capacitive sensor that can detect touch. This can be based off of an existing method for embedding electronics in silicone. You will explore the most effective configuration of the sensor for SoPrA, and develop the suite of electronics that are required to read out from the sensors, and integrate them into SoPrA.
**Please see attached document for details**
- Review relevant papers regarding soft robot proprioception
- Understand the robot system of SoPrA.
- Re-create the silicone-based capacitive sensor at our lab
- Evaluate the best sensor configuration of capacitive sensors for effective proprioceptive measurements on the arm.
- Electronics, CAD and fabrication work to integrate the sensor to the design of SoPrA.
- Evaluate the effectiveness of the sensor through a series of experiments
- Design a controller that can utilize the new sensor to react based on proprioceptive state
- Review relevant papers regarding soft robot proprioception - Understand the robot system of SoPrA. - Re-create the silicone-based capacitive sensor at our lab - Evaluate the best sensor configuration of capacitive sensors for effective proprioceptive measurements on the arm. - Electronics, CAD and fabrication work to integrate the sensor to the design of SoPrA. - Evaluate the effectiveness of the sensor through a series of experiments - Design a controller that can utilize the new sensor to react based on proprioceptive state
- Understanding of electronics and circuitry (microcontrollers, sensors, soldering etc)
- Ability to code in Python or C++ (code for SoPrA is mainly C++, but a Python interface is available)
- Understanding of basic mathematical optimization methods
- Understanding of robot kinematics / dynamics
- Cooperation with students / researchers at SRL. There are people with backgrounds in materials science, mechanical / electrical engineering, computer science, physics who can support you on your project.
- Understanding of electronics and circuitry (microcontrollers, sensors, soldering etc) - Ability to code in Python or C++ (code for SoPrA is mainly C++, but a Python interface is available) - Understanding of basic mathematical optimization methods - Understanding of robot kinematics / dynamics - Cooperation with students / researchers at SRL. There are people with backgrounds in materials science, mechanical / electrical engineering, computer science, physics who can support you on your project.
Application via SiROP portal with the following documents:
1. Cover letter: your relevant experience in this area, tentative timeline, motivation
2. CV: professional summary, education with GPAs, research and work experience, key skills, publications (if any), awards and fellowships (if any), volunteering work (if any), and outside interests - exemplary publication or thesis work (if available)
3. Two reference contacts
4. Transcripts of all prior and ongoing degrees
Further information about the Soft Robotics Lab can be found on srl.ethz.ch
Project Advisors:
Yasunori Toshimitsu, yasu313nori@gmail.com, Robotics researcher and project lead
Prof. Robert Katzschmann, rkk@ethz.ch, Institute of Robotics and Intelligent Systems, D-MAVT
Application via SiROP portal with the following documents:
1. Cover letter: your relevant experience in this area, tentative timeline, motivation 2. CV: professional summary, education with GPAs, research and work experience, key skills, publications (if any), awards and fellowships (if any), volunteering work (if any), and outside interests - exemplary publication or thesis work (if available) 3. Two reference contacts 4. Transcripts of all prior and ongoing degrees
Further information about the Soft Robotics Lab can be found on srl.ethz.ch
Project Advisors:
Yasunori Toshimitsu, yasu313nori@gmail.com, Robotics researcher and project lead
Prof. Robert Katzschmann, rkk@ethz.ch, Institute of Robotics and Intelligent Systems, D-MAVT