Sensing through the skin – a tactile sensor for soft robots.

Overview

Researchers in the QUT Centre for Robotics are interested in giving robots a sense of touch, through a new type of thin skin-like soft sensor. The idea is to use changes in electrical resistance within a soft skin when it is touched. The technique is called electrical impedance tomography, and these sensors will have channels of conductive fluid within a soft skin. The aim is to understand the state of contact (how much force is applied? in which direction? at what point? at how many points?) by continuously monitoring the resistance. These types of sensors are very useful in manipulating objects using touch, medical sensing. soft robot perception and rehabilitation.

Research engagement

Review the existing literature on electrostatic sensors.
Design and fabricate a thin sensor with channels.
Experimentally evaluate the sensor in a mechanical testing rig.
Analyse the data to offer insights.

Research activities

The student will work with Dr. Krishna Digumarti.
The work involves hands-on fabrication of devices using silicone rubbers in the workshops.
Experimental testing will be performed at the centre for robotics on a custom test rig.
A small amount of programming in python may be required.
Rapid prototyping using 3D modelling and 3D printing is expected.

Outcomes

1. A prototype sensor capable of measuring forces in multiple directions.
2. A report detailing the implementation, programming, testing and observations that favoured or prevented successful design.
3. A set of data used in the evaluation of the sensor.

Skills and experience

1. Good knowledge of basic electronics and simple circuits is useful.
2. Familiarity with computer aided design - any software is fine - solidworks, fusion360, nx
3. Ability to write small programs in python/Matlab. Can be learnt on the job.
4. A desire to learn something new: fabrication, measurement, design, mechanical testing.

Start date

20 November, 2024

End date

15 February, 2025

Location

Centre for robotics at S block, workshops at O and J blocks - GP campus

Additional information

Prior work on the idea has been published by the supervisor. See here for a good idea on what to expect: https://eprints.qut.edu.au/237134/

Keywords

• robot
• sensor
• robotics
• soft robotics
• medical
• electrical
• mechanical

Contact

krishnamanaswi.digumarti@qut.edu.au