Aula Riunioni DII, piano 6
Lunedì, 23 Aprile 2018, h. 15.00 – 17.15
Senior Lecturer in the Centre for Robotics
Research, Department of Informatics
King’s College London, UK
Towards haptic sensing and perception for soft robots
The unique advantage of compliant and soft robots is that they are inherently safe and adaptive for physical interaction with environment. Haptic sensing and interaction, either kinesthetic or tactile, is essential for allowing such type of robots to exploring such advantage and elegantly perform tasks. However, the soft and flexible body of such robots introduces new challenges in haptic sensing and interaction control, where conventional methods developed for rigid robots unable to address. This talk introduces our current research towards breaking this bottleneck through investigating in new sensing methods for compliant and soft robots in particular for medical applications.
Hongbin Liu is a Senior Lecturer at the Centre for Robotics Research, Department of Informatics, King’s College London, UK, where he is leading the Haptics Mechatronics and Medical Robotics (HaMMeR) Lab. He received BEng in 2005 from the Northwestern Polytechnique University, China, and MSc in Mechatronics, PhD in robotics in 2006 and 2010 both from Kings College London, UK. He is a member of IEEE and Technical Committee Member for IEEE EMBS BioRobotics. His research has been focusing on creating soft and compliant robots with augmented haptic perception to elegantly and safely interact with changing and unstructured environment, while at the same time enhancing the understanding of the environment through haptic interaction. Applications of research include robotic endoscopes, haptic sensing for medical instruments, force sensing and control for steerable catheters for medical interventions, and robotic ultrasound manipulation.
School of Materials Science,
Intelligent Robotics Area
Japan Advanced Institute of Science and Technology
Toward an active soft tactile sensing system with morphological change
Conventional sensors’ sensing abilities are determined by embedded sensing elements, with the number of modalities depending on the number of corresponding sensing elements. Sensing elements are in fixed locations corresponding to specific sensing tasks. In the present study, we utilizes a wrinkled morphology to actively change its sensing abilities in interaction with its environment, using single type sensing elements. Our proposed prototype involves integration of an actuator and strain gauge sensing elements. Under air pressurization, wrinkle patterns can be constructed and deconstructed to alter the posture of sensing elements beneath the skin, resulting in changes in sensor outputs. Preliminary results are expected to pave a new way for exploring the application of morphological control in active tactile sensing systems.
Van obtained the PhD degree on Robotics at Ritsumeikan Unviersity, Japan in 2012. He had completed the JSPS Post doctoral fellow in 2013 before joining Advanced R&D Center, Mitsubishi Electric Corp. in Japan. From 2015 to 2017, he worked as Assistant Professor at Ryukoku University in Kyoto, where he led a laboratory on soft haptics. From 2017, he joined JAIST for setting up a laboratory on Soft Robotics. His research interests are soft robotics, soft haptics, grasping and manipulation, bio-inspired robots.