|SUBJECT:||M.S. Thesis Presentation|
|TIME:||Thursday, February 1, 2018, 4:00 p.m.|
|PLACE:||Whitaker Ford Building, 2110|
|TITLE:||Positional Estimation of Soft Actuators Through Embedded Sensing|
|COMMITTEE:||Dr. Frank Hammond III, Chair (ME/BME)
Dr. Denis Dorozhkin (ME)
Dr. Jun Ueda (ME)
Soft robotic systems are inherently prone to deformations beyond the desired modes of actuation. The compliant nature of materials used to fabricate them is responsible for this. Kinematic model estimation from pressure is effective for coarse system control, but achieving higher degrees of precision demands integration of more robust sensing techniques. Positional precision and accuracy are necessary for the development of complex systems of soft robots composed of numerous actuators and sensors. As market options for direct soft sensing components are limited, full scope research and development of the desired sensing techniques is required. This process of sensor development involves mechanical design of components, electronic instrumentation, orientation and placement for target actuator deformations, interpretation of response for embedded control, and benchmarking performance for facilitated system integration. The documentation of these attempts at sensor development serves to expand the toolbox of techniques for soft sensing in soft robotic bodies.