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Towards a generalizable framework to develop artificial tactile sensing skin molds

19.10.2021, Diplomarbeiten, Bachelor- und Masterarbeiten

Research Internship, Master Thesis, Master Internship, Bachelor Thesis

In the scope of this work, you will be involved in creating algorithms to unwrap the external surface of any given object into its compounding 2D surfaces, as shown on the corresponding image. These surfaces will be then used to create molds to manufacture the silicon based artificial tactile skins, which will then be wrapped around the desired object.

The sense of touch is a crucial feature of human dexterous manipulation. In an attempt to replicate its advantages in robotics, several tactile sensing technologies have been developed. In a recent branch of tactile sensing, artificial sensing skins have been devised. In many cases, however, the aforementioned technologies are constrained to their specific applications and are hardly generalizable.

At MIRMI we strive to go beyond traditional customized tactile sensing solutions, and rather create generalizable ones, with the potential to impact areas ranging from robotics manipulation to human manipulation analysis and medical applications. We aim to develop a general framework, capable of producing a silicon based artificial tactile skin for any kind of object, e.g., a robotic finger, a link of a robotic arm, a prosthetic device, a medical rehabilitation device, etc.

In the scope of this work, you will be involved in creating algorithms to unwrap the external surface of any given object into its compounding 2D surfaces, as shown on the corresponding image (see external link). These surfaces will be then used to create molds to manufacture the silicon based artificial tactile skins, which will then be wrapped around the desired object.

Type: Research Internship, Master Thesis, Master Internship, Bachelor Thesis

Prerequisites of an ideal candidate:

-Strong programming skills (preferable languages: Matlab, Python, C++)
-Good knowledge of linear algebra and 3D representations
-Good knowledge of optimization algorithms
-Optional: Good knowledge on machine learning algorithms
-Optional: Good knowledge on CAD modeling and object representation files (e.g. .stl, .obj, etc.)
-Creativity and out-of-the-box problem solving skills
-Strong interest in tactile sensing and spatial object representations

What can you expect from us:

-Necessary equipment for you to complete your work
-An environment where your ideas will be welcome and discussed in detail
-Freedom on your work schedule

Contact:

If you are interested in the topic and want to know more, feel free to contact us:
Diego Hidalgo (diego.hidalgo-carvajal@tum.de)

Kontakt: diego.hidalgo-carvajal@tum.de

More Information

https://www.msrm.tum.de/en/rsi/open-positions/student-projects-and-jobs/

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