Developing Onboard Tactile Sensors for Humanoid Robots for Safer Human Robot Interaction

About the Project

Humanoid Robots are a state-of-the-art technology with potentially unprecedented social and industrial benefits [1]. However, the current generation of humanoid robots are predominantly telemetric control systems that lack robust and intuitive emergency protocols and onboard devices such as external sensors to prevent/minimise the potential harm to people [2].

Current methods include overheating detection (thermal cutoff) and trip sensors. However, these do not function effectively for protecting people during general HRI. After a recent spate of near misses between humanoid robots and people, there is an urgent need to explore novel safety devices and how they could be used to disengage a robot immediately within a given HRI context without relying on the human controller [3].

This PhD focuses on the use of soft sensors (and other integrated methods within the sensors), which could be used to detect impact and even presence (proximics) to reduce or avoid significant injury during close-quarter interaction. The design and human factors will also be explored in the development of the system integration into the robots to make sure that they can effectively signal/gesture their intention and assurance to the user to enhance trust and intention.

Outline:

• Year 1: Survey and review of existing sensors used in humanoid robots and how they are integrated into existing control/AI systems.
• Year 2: Development and design of novel Softsenors (and other integrated methods i.e ultrasonic sensors, thermal etc) using a microprocessor such as Arduino or PI.
• Year 3: Implementation of sensors on a humanoid robot (Pepper or Nao - currently), Experiments / Testing in different HRI scenarios (emulated for moderate/high risk).

Academic qualifications

Have, or expect to achieve by the time of start of the studentship a first-class honours degree, or a distinction at master level, ideally in Robotics and AI (Interest in HRI and UX) with a good functional knowledge of Applied Robotics / Engineering: Electronics, 3D Printing, CAD, Sensors.

English language requirement

IELTS score must be at least 6.5 (with not less than 6.0 in each of the four components). Other, equivalent qualifications will be accepted. Full details of the University’s policy are available online.

Essential attributes:

• Outstanding Problem Solver
• Good knowledge of different programming languages
• Practical/hands-on individual who likes building/prototyping robots

Desirable attributes:

• Development of novel Softsensors / Artificial Muscles
• Data Management and Processing

APPLICATION CHECKLIST

• Completed application form
• CV
• 2 academic references, using the Postgraduate Educational Reference Form (download)
• Research project outline of 2 pages (list of references excluded). The outline may provide details about:
  1. Background and motivation of the project. The motivation, explaining the importance of the project, should be supported also by relevant literature. You can also discuss the applications you expect for the project results.
  2. Research questions or objectives.
  3. Methodology: types of data to be used, approach to data collection, and data analysis methods.
  4. List of references.
• Statement no longer than 1 page describing your motivations and fit with the project.
• Evidence of proficiency in English (if appropriate)

To be considered, the application must use the advertised title as project title

For informal enquiries about this PhD project, please contact Dr Carl Strathearn - C.Strathearn@napier.ac.uk