Modular soft continuum robot arm for safe human-robot interaction
Project Description
This project focuses on the design and control of a Modular Soft Continuum Arm (SCA) intended for safe human-robot interaction and adaptive manipulation. Unlike traditional rigid robots, this system employs compliant flexure joints and novel sensing strategies to achieve continuous shape estimation and variable stiffness.
Supervisor
SCHARFF, Rob Bernardus Nicolaas
Quota
2
Course type
UROP1000
UROP1100
UROP2100
UROP3100
UROP3200
UROP4100
Applicant's Roles
Students will work in one or more of the following areas based on their skills and project needs:
- Embedded Systems & Control: Development of firmware for distributed modular controllers. This includes sensor fusion (optical, IMU data etc), communication protocols (CAN bus), and closed-loop control algorithms.
- Mechanical Design & Manufacturing: Iterative design and fabrication of soft robotic joints. This involves exploring advanced 3D printing techniques (e.g., G-code optimization, multi-material printing), material characterization, and structural testing.
- System Integration: Assisting with experimental validation, including "sim-to-real" comparison and performance benchmarking of the robotic arm.
- Embedded Systems & Control: Development of firmware for distributed modular controllers. This includes sensor fusion (optical, IMU data etc), communication protocols (CAN bus), and closed-loop control algorithms.
- Mechanical Design & Manufacturing: Iterative design and fabrication of soft robotic joints. This involves exploring advanced 3D printing techniques (e.g., G-code optimization, multi-material printing), material characterization, and structural testing.
- System Integration: Assisting with experimental validation, including "sim-to-real" comparison and performance benchmarking of the robotic arm.
Applicant's Learning Objectives
- Embedded Engineering: Experience with microcontrollers (STM32), peripheral drivers, and real-time operating logic.
- Advanced Prototyping: Mastery of additive manufacturing for soft robotics, including flexible materials (TPU/PP) with machines like H2D and slicer optimization.
- Robotics Research: Hands-on experience with sensor characterization, actuation mechanisms, and experimental data analysis.
- Advanced Prototyping: Mastery of additive manufacturing for soft robotics, including flexible materials (TPU/PP) with machines like H2D and slicer optimization.
- Robotics Research: Hands-on experience with sensor characterization, actuation mechanisms, and experimental data analysis.
Complexity of the project
Moderate