Institute of Robotics and Intelligent Systems D-MAVTOpen OpportunitiesThis project mainly focuses on the automation of the existing 5D bioprinter, optimizing the software for updated system use, and developing the print head for better complex 3D prints. This printer will be used for bioprinting applications. - Acoustics and Acoustical Devices; Waves, Automotive Engineering, Biomedical Engineering, Computer Hardware, Control Engineering, Electrical and Electronic Engineering, Mechanical Engineering, Printing Technology, Robotics and Mechatronics, Systems Theory and Control
- Bachelor Thesis, Master Thesis, Semester Project
| The Multi-Scale Robotics Lab develops novel actuation methods for endoscopic devices utilizing magnetic navigation systems (MNS). In MNS, an external magnetic field applies forces and torques on magnets attached to the endoscopes. To control these endoscopes, precise shape estimation techniques are required. Current methods try to estimate the endoscope’s shape by measuring the external field along the endoscope using hall-sensors. This method requires precise knowledge about the applied external field and often lacks in localization precision in certain directions.
- Electrical Engineering, Mechanical Engineering
- Master Thesis
| We currently want to (i) elaborate the added value of a campus board that records the forces per limb, (ii) determine grasping phases for kinematic analyses of the phalanges more pragmatically than with 6DoF sensors, and (iii) drive forward a competition analysis based purely on video material. - Biomedical Engineering, Human Movement and Sports Science
- Internship, Semester Project
| Reaching and grasping an object of interest is a relatively simple
task that can be achieved robustly in case the object is equipped
with a simple handle and a visual marker. However, often the difficulty in the task originates from the rest of the environment.
The object may be placed in cluttered spaces with diverse obstacles
as well as dynamic entities, e.g. humans, other robots. As a result,
executing the task of reaching and grasping the object necessitates
collision-free motion control capabilities. - Intelligent Robotics, Robotics and Mechatronics
- Master Thesis, Semester Project
| The process of evaluating sleep examinations and diagnosing sleep disorders through polysomnographies (PSGs) is labor-intensive as it requires manual analysis from sleep technicians and doctors. In collaboration with Clinic Barmelweid, a leading sleep and rehabilitation clinic in northwestern Switzerland, we plan to automate this process using machine learning models. Clinic Barmelweid conducts approximately 400-450 PSGs annually and has access to a dataset of more than 5,000 recordings. - Artificial Intelligence and Signal and Image Processing, Biomedical Engineering, Medical and Health Sciences
- Collaboration, ETH Zurich (ETHZ), Internship, Master Thesis, Semester Project
| This thesis aims to utilize deep learning techniques to analyze eye-tracking data during a goal-directed upper limb task, particularly focusing on participants under the influence of alcohol. The objective is to develop digital health metrics that can elucidate differences in movement planning. - Engineering and Technology, Information, Computing and Communication Sciences, Medical and Health Sciences
- Bachelor Thesis, Master Thesis, Semester Project
| Reinforcement learning (RL) can potentially solve complex problems in a purely data-driven manner. Still, the state-of-the-art in applying RL in robotics, relies heavily on high-fidelity simulators. While learning in simulation allows to circumvent sample complexity challenges that are common in model-free RL, even slight distribution shift ("sim-to-real gap") between simulation and the real system can cause these algorithms to easily fail. Recent advances in model-based reinforcement learning have led to superior sample efficiency, enabling online learning without a simulator. Nonetheless, learning online cannot cause any damage and should adhere to safety requirements (for obvious reasons). The proposed project aims to demonstrate how existing safe model-based RL methods can be used to solve the foregoing challenges. - Engineering and Technology
- Master Thesis
| The objective of this project is to create a comprehensive robotic platform capable of autonomously administering injections into the human eye. The project includes mechanical design, motion planning, and the implementation of a force control algorithm. - Mechanical and Industrial Engineering
- Bachelor Thesis, ETH Zurich (ETHZ), Master Thesis, Semester Project
| Our aim is to create an autonomous racing system capable of swiftly learning optimal racing strategies and navigating tracks more effectively (faster) than traditional methods and human drivers using RL. - Intelligent Robotics
- Master Thesis, Semester Project
| After a neurological injury (such as stroke), many patients suffer from impairment of the hand and finger function. Clinical assessments aim to measure and quantify those impairments for a better understanding and to specifically target those deficits in rehabilitation. One aspect of hand function, that is not truly understood yet is finger individuation: the ability to move one finger independently of the others. In a previously developed assessment device, we use force sensors attached to a hand module to measure this dexterous skill. This individuation device measures finger flexion (pushing) over different force levels, but the individuation ability in extension (pulling) remains unknown. The aim of this project is to implement an extension assessment (by adapting the existing protocol) and compare as well as test it before its implementation into the clinical routine. - Biomedical Engineering, Clinical Sciences, Electrical and Electronic Engineering, Human Movement and Sports Science, Interdisciplinary Engineering, Mechanical and Industrial Engineering, Neurosciences, Other
- Bachelor Thesis, Internship, Master Thesis, Semester Project
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