Design of new methods for interaction measurement and control of soft tissue, including vision-based feedback

The aim of this project is to understand and design sensors and sensory processing methods for robotic interaction with soft tissue. This will enable accurate measurement of the state of soft tissue objects, and control of manipulations of soft tissue objects. Sensing methods will include 2D and 3D imaging techniques to sense, understand and track the shape and pose of soft tissue objects. Only by precise understanding of the soft objects to be manipulated, can accurate and appropriate control be achieved.

The main focus of the project will include soft tissue objects with components that have different characteristics, for example bone, connective tissue and muscle, which vary from animal to animal and over time. Some characteristics are therefore difficult to measure and control directly and this project will investigate the fundamentals of fusing soft tissue models created and simulated in companion PhD projects, with sensing methods, which is also known as data assimilation. The goal then is to create an accurate representation of complex soft tissue objects that can enable manipulation of the object.

This project will integrate with companion PhD projects in the program, inverting the models created so that biosignals and other fused sensor data can inform soft tissue robot manipulation controllers.

The student will learn the broad systems design experience and skills involved in real-world robotics sensing systems that are integrated in control and manipulation components, and how a team of advanced researchers is able to compose innovations in a combination of areas and fuse information to create innovative solutions to complex problems.

This project forms part of an International Research Training Group of 20 PhD students working in the area of Soft Tissue Robotics where rigid robots handle soft materials, with three focus areas (i) simulation technologies, (ii) automation and control, and (iii) biological modelling and sensing. The aim of the programme is to develop new simulation technologies, actuators, sensors and controllers for novel robotic systems interacting with soft tissues. The successful candidate will be expected to travel to Germany for research exchanges, joint summer schools and research seminars during your study.

If you meet entry requirements for PhD studies please provide a single pdf containing cover letter, CV, academic transcripts.
https://www.auckland.ac.nz/en/study/applications-and-admissions/entry-requirements/postgraduate-entry-requirements/doctoral-entry-requirements.html