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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: 80NSSC19C0637
Agency Tracking Number: 150276
Amount: $709,003.00
Phase: Phase II
Program: STTR
Solicitation Topic Code: T11
Solicitation Number: STTR_19_P2S
Timeline
Solicitation Year: 2019
Award Year: 2019
Award Start Date (Proposal Award Date): 2019-09-27
Award End Date (Contract End Date): 2021-03-26
Small Business Information
3101 20th Street, San Francisco, CA, 94110-2714
DUNS: 830681800
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 Gui Cavalcanti
 (857) 756-3643
 gui@otherlab.com
Business Contact
 Dylan Graham
Phone: (228) 813-6103
Email: dylan.c.graham@nasa.gov
Research Institution
 Yale University
 Woodbridge Hall
New Haven, CT, 00000-0000
 Federally funded R&D center (FFRDC)
Abstract
Otherlab and the Faboratory propose that a key component of future NASA robot technology will benbsp;continuum joint-based fluidic actuation, valuable for its light weight, low packing volume, inherent shock amp; vibration isolation, and ability to interact safely with unstructured environments and near humans.nbsp;Over the course of our Phase I amp; Phase II projects we have developed such a novel prototype fluidic actuation system by integrating Otherlab#39;s fluidic actuation systems with Faboratory#39;s strain sensors and further developing both.During this Sequential Phase II, we propose to further develop this system for use in relevant space environments.nbsp; We will hone the designs by exploring ways to tightly integrate the sensors into the actuator#39;s structure and develop sensors and system design methods for better system integration.nbsp; The result will be well-calibrated, self-contained, daisy-chainable fluidic actuation modules with dedicated electronics and controls. We will build 3 different sizes of continuum joint actuator to explore design tradeoffs in physical scaling. We will characterize their performance across relevantnbsp;temperature ranges and environmental conditions, and evaluate their ability to perform tasks in planetary and lunar environments. At the end of the project, we will demonstrate the actuation modules performing a variety of functions on an example rover.

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

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