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Location Determination of Tactile Sensors on an Artificial Robotic Finger
The overall goal of this project is the development of an artificial robotic skin which integrates tactile sensing capabilities into an artificial finger. For a more accurate and reproducible fabrication, the placement of the tactile arrays onto the silicone finger must be characterized and improved to reduce finger to finger variation.
The goal of this master thesis is to develop a method to determine the individual locations of > 100 tactile sensors (taxels, Ø = 500 µm) of an array placed on a curved artificial silicone robotic finger. We aim to use an image-based approach and/or machine learning to find the corresponding locations of the taxels with an accuracy of at least 50 – 100 µm. Depending on your interests, skill set and progress, the project can be extended towards creating a complete digital twin or the development of a new transfer method to improve the positioning accuracy of the taxels.
The goal of this master thesis is to develop a method to determine the individual locations of > 100 tactile sensors (taxels, Ø = 500 µm) of an array placed on a curved artificial silicone robotic finger. We aim to use an image-based approach and/or machine learning to find the corresponding locations of the taxels with an accuracy of at least 50 – 100 µm. Depending on your interests, skill set and progress, the project can be extended towards creating a complete digital twin or the development of a new transfer method to improve the positioning accuracy of the taxels.
Sira Bielefeldt or Florin Püntener
sbielefeldt@ethz.ch | florinp@ethz.ch
Sira Bielefeldt or Florin Püntener sbielefeldt@ethz.ch | florinp@ethz.ch
23_MA - Location Determination of Tactile Arrays on Artificial Finger.pdf
