Compliant Sensing Skin for Co-Robots
PhD candidate, Mechanical Engineering
Advisor: Prof. Elisabeth Smela and Prof. Miao Yu
Compliant sensing skin would be beneficial for co-robots, which are designed to work collaboratively with people. To ensure a safe human-robot interaction, the sensing skin is required to be compliant that can be placed over a padded robot and follow the changing conformations .To establish an effective communication with environment, the sensing skin is required to cover the entire robotic surface. Our sensing skin is made from exfoliated graphite (EG) /latex sensing material and can be made into arbitrary shape and dimension through spray coating. We are investigating the effectiveness of the multi-padding architecture for extended dynamic sensing range and appropriate sensitivity for gentle touch. Practical issues include a robust soft-rigid wiring connection, selection of padding material, and identification of various touch modalities. For large scale distributed sensing, we employ the technique of electrical impedance tomography (EIT), which allows internal touch imaging with boundary measurements. Basic issues, e.g. background conductivity of sensing material and multiple-target sensing, are investigated for the EIT-based tactile sensor.
About the Robotics Graduate Student Seminars
The Robotics Graduate Student Seminars at the University of Maryland College Park are a student-run series of talks given by current graduate students.
The purpose of these talks is to:
- Encourage interaction between Robotics students from different subfields;
- Provide an opportunity for Robotics students to be aware of and possibly get involved in the research their peers are conducting;
- Provide an opportunity for Robotics students to receive feedback on their current research;
- Provide speaking opportunities for Robotics students.