Interactive Medical Robotics Laboratory

Traditionally, robots have been designed for precise, repetitive tasks in industrial settings. However, as technology becomes more accessible, integrating robots into human environments is increasingly feasible. This requires rethinking robot design, sensor technology, and control mechanisms. Nature offers valuable insights; for instance, the human fingertip, with its network of mechanoreceptors, enables remarkable dexterity. Additionally, humans use kinesthetic feedback to understand interactions with objects. By drawing inspiration from natural systems, we aim to develop advanced robotic systems capable of intuitive and effective interaction with their surroundings and humans.

Actuators are a fundamental building block for a robotic device. However, robotic actuators commonly used today are often bulky and can't sense changes in the environment, despite being mechanically able to do so. Take for instance a direct current motor. The current drawn by the motor is directly proportional to the torque it produces, which correlates to the mechanical load applied to the motor. By measuring the motor's current, one can intrinsically sense the load. Whilst traditional motors require significant gearing, which hinders efficient load sensing, fluid-driven devices are less impacted by transmission losses and can provide efficient force sensing capabilities with only a fluid pressure sensor. Some aspects of our work therefore explore fluid pressure-based force sensing capabilities of robotic devices, to enhance interactivity between device and human.