Sensorization of soft robotics actuators allows for safe control of soft robots and allows for (co)-operating in close proximity with humans.
Information on interaction forces of the soft robotic actuator with the environments allows for the development of haptic feedback systems for teleoperation. Furthermore, sensorized soft robotic actuators may provide real-time information about the deformation of the soft robot to update its control strategy. The emerging development of 3D printing technologies and materials facilitates the creation of soft and flexible sensors and pneumatic actuators.
The goal of this assignment is to develop and characterise a fully 3D printable soft robotic, sensorized, actuator that can capture its position and interaction forces with the environment.
The assignment will involve a literature study, synthesis and modelling of a design, realisation of a sensorized pneumatic soft robotic actuator and characterization of the sensor(s).