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Object Slippage Detection for a Miniature Force-Sensitive Gripper
We are developing a teleoperated micro-assembly system. A core component is a force-sensitive micro-gripper. A first gripper prototype has been realized and evaluated. Your task will be to review and improve the current design and to implement automated object slippage detection.
Keywords: Micro-manipulation, robotic gripper, force sensing, slippage detection, teleoperation
In the scope of an ongoing research project, we are currently developing a teleoperated micro-assembly system to assemble mechatronic prototype devices. This system combines a robotic assembly station with a visuo-haptic user interface. On the assembly side, a miniature force-sensitive gripper is used to grasp and move parts following user input. Depending on material and geometry of the manipulated parts, slippage between parts and gripper fingers might occur during manipulation. This renders the assembly process much more tedious and might even damage fragile parts. Currently, the user is required to constantly be attentive to such slippages. Automating this slippage detection, for instance by means of vision-based tactile sensors, would hence decrease the mental load on the user and further allow for automation of certain assembly steps.
In the scope of an ongoing research project, we are currently developing a teleoperated micro-assembly system to assemble mechatronic prototype devices. This system combines a robotic assembly station with a visuo-haptic user interface. On the assembly side, a miniature force-sensitive gripper is used to grasp and move parts following user input. Depending on material and geometry of the manipulated parts, slippage between parts and gripper fingers might occur during manipulation. This renders the assembly process much more tedious and might even damage fragile parts. Currently, the user is required to constantly be attentive to such slippages. Automating this slippage detection, for instance by means of vision-based tactile sensors, would hence decrease the mental load on the user and further allow for automation of certain assembly steps.
This thesis will be structured into two main parts. Firstly, the suitability of our current prototype gripper to perform all required assembly tasks and to implement automated slippage detection shall be investigated. To this end, the current gripper design shall be improved based on findings from past experiments. Then, a second iteration thereof shall be manufactured and validated in a small user study. Secondly, suitable methods for automated slippage detection with your improved gripper design shall be identified and evaluated. Ideally, at least one such method would be implemented in the gripper and integrated in the user study.
This thesis will be structured into two main parts. Firstly, the suitability of our current prototype gripper to perform all required assembly tasks and to implement automated slippage detection shall be investigated. To this end, the current gripper design shall be improved based on findings from past experiments. Then, a second iteration thereof shall be manufactured and validated in a small user study. Secondly, suitable methods for automated slippage detection with your improved gripper design shall be identified and evaluated. Ideally, at least one such method would be implemented in the gripper and integrated in the user study.