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Soft Robotic Manipulators with Enhanced Perception using Multimodal Sensory Skins

Award Information
Agency: National Aeronautics and Space Administration
Branch: N/A
Contract: NNX16CA54P
Agency Tracking Number: 150276
Amount: $124,980.00
Phase: Phase I
Program: STTR
Solicitation Topic Code: T11.01
Solicitation Number: N/A
Solicitation Year: 2016
Award Year: 2016
Award Start Date (Proposal Award Date): 2016-06-10
Award End Date (Contract End Date): 2017-06-09
Small Business Information
3101 20th Street
San Francisco, CA 94110-2714
United States
DUNS: 000000000
HUBZone Owned: No
Woman Owned: No
Socially and Economically Disadvantaged: No
Principal Investigator
 Maria Telleria
 Principal Investigator
 (248) 568-1789
Business Contact
 James McBride
Title: Otherlab CTO
Phone: (415) 970-2209
Research Institution
 Faboratory at Purdue University
 Rebecca Kramer
585 Purdue Mall, ME 2147
West Lafayette, IN 47907-2088
United States

 (765) 494-2219
 Domestic Nonprofit Research Organization

We propose that the key to robotic automation in unstructured environments is compliant robotic manipulators that can tolerate, sense, and leverage contact in a feedback loop. We will demonstrate an instrumented end-effector that will be capable of enhanced perception through observed and controlled contact. This approach requires: (i) a network of sensors capable of capturing the highly compliant state of the soft robot and high resolution tactile sensors for multi-point contact, (ii) integrating these sensors with a core embedded system capable of processing large arrays of sensor data and (iii) development of algorithms that can extract state/tactile information to serve as high frequency feedback to the control system.

The goal of this STTR is to transfer the promising technology of elastomeric sensors from the Purdue Faboratory's research setting into a commercial product. These sensors present a solution to the remaining piece of the puzzle of how to manage and leverage the additional degrees of freedom of Pneubotics' compliant systems. Towards this goal, Otherlab will serve as the commercial expert with a deployable platform. We will provide requirements and specifications for the sensor design as well as insight into integration challenges and cost constraints. The Faboratory will serve as the experts on liquid-embedded elastomeric sensors, optimizing the design and fabrication methods to serve the commercial applications. The full system demonstrations proposed in this Phase I are feasible because we will exploit the Pneubotics' manipulators and gripper designs that Otherlab has developed through government grants (NASA, DARPA), commercial partners, and private funding.

* Information listed above is at the time of submission. *

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