Interaction Control with a 3D Printed Torque Sensor in an Impedance Control Framework

In this project, we first aim to parameterize the design of a torque sensor to enable tuning of the sensing range, as well as to characterize the sensor response for multiple samples.

This will be continued by an investigation into interaction control strategies, assessing the system and sensor bandwidth, accuracy, and repeatability.

Additionally, it is of interest to investigate adaptive compensation methods for the remaining nonlinearities in the sensor response, like hysteresis, and how such schemes can improve the real-world usage of 3D printed sensors in control-focused applications.