NICOP - Soft Elastomeric Actuator-based Smart TActile Robotic hand (SEASTAR)
Abstract
Human like robots have been an aspiration and fascination for scientist and the public for many decades but this dream has been out of reach until now. Technological advances over the last decade in lightweight durable materials, actuators, coordination and e-skin have reignited the promises of robotics in everyday life. However, several issues remain unexplored such as soft and dexterous limbs with tactile ability. Therefore, we propose to address immediate needs in underwater biorobotics by developing soft robotic mechatronic hands. This research addresses ONR’s focus on enabling rapid, accurate decision making through the development of novel sensing and surveillance technologies. The development of methods to fabricate high density, deformable, water resistant and scalable sensors will have significant impact in the area of autonomous robotic vehicles such as those operated remotely and semi-autonomously underwater or extra-solar. These advances in biorobotics technology have significance to the US Navy for deep-sea search and rescue, underwater assembly and sample collection for science missions. The proposed research addresses the needs of ONR’s Biorobotics Program (Code 31). Specifically, the work applicable to the Machine Learning, Reasoning and Intelligence Program (Code 311) for Human-Agent Collaboration by developing models of human behavior and decisionmaking for use by autonomous agents. The desired outcomes of this research are as follows. (1) A proof-of-concept platform will be developed to investigate the advantages of temporal and spatial structure in tactile signal representation. This encompasses the sensor hardware, sampling circuitry and communication systems. (2) Biologically plausible learning algorithms will be developed and verified on experimental data and provide suitable demonstrations. (3) Development of novel hand configurations that involve soft material and compliant robotic finger and hand mechanisms. (4) Possibly leading to a demonstration of sensorized hands with bimanual dexerous manipulation capability.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Aug 12, 2016
- Source ID
- N629091512030
Entities
People
- Asst. Chen Hua Yeow
Organizations
- National University of Singapore
- Office of Naval Research
- United States Navy