Sensorless microrobotic wrist

CTI project in collaboration with a Swiss industrial partner

Project description

The aim of the project is to develop a muti-degrees of freedom piezo-based robotic wrist providing positioning and force sensing capabilities at submicron scale. In order to keep the wrist dimensions very compact (< 2 cm3), the Integrated Actuator Laboratory investigates the possibility to make use of sensorless actuation technologies.

Publications

L. Masson; X. Liu; Y. Perriard : Design of an Optimized Self-Sensing Piezoelectric Cantilever for Micro-Robotic Applications. 2018. 2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), Nagoya, Japan, July 4 -8, 2018. DOI : 10.1109/MARSS.2018.8481181.
C. Cuchet; G. Burnand; L. Masson; Y. Civet; Y. Perriard : Improved Analytical Model of Hyperelastic Magnetic Membrane. 2017. The 20th International Conference on Electrical Machines and Systems (ICEMS), Sydney, Australia, August 11-14, 2017.