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Bachelor Theses at IRIS

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Jul 17, 2017

Bubble-powered soft acoustomagnetic microrobots

The newly designed microrobot consists of a cavity at the center of its body and superparamagnetic particles within the polymer matrix. The microcavity supports an air-bubble trap, which enables propulsion in an acoustic field, and the magnetic particles allow controlled motion in a magnetic fi ...

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Jul 16, 2017

Development of an intelligent single-leg testbench

Develop a intelligent single-leg testbench for validation of sensors and applied machine learning.

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Jul 16, 2017

Development of a new type of force sensor

In this project we are going to investigate how to integrate force sensing capability directly into structural elements of a legged robot.

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Jul 6, 2017

Somnomat: an Actuated Bed to Improve Sleep

A good night’s sleep is one of the most important factors influencing health and wellbeing. Within the SOMNOMAT project we are developing actuated beds that improve the sleep Quality of their us.

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Jul 4, 2017

Evaluating the Performance of Communication Software for Real-Time Robotics Applications

The objective of this project is to design and implement a benchmark in order to evaluate and compare the performance of state-of-the-art software frameworks for Inter-Process Communication (IPC) which are widely used in the field of robotics.

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Jun 29, 2017

Modelling and Simulation of 3-Phase PMSM-Based Actuators

The objective of this project is to develop a model and tool for simulating the effects of electric motor dynamics on legged systems using actuators incorporating Permanent Magnet Synchronous Motors (PMSMs), a generalized version of common DC Brushless (BLDC) motors.

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Jun 29, 2017

Using Machine-Learning to Learn Models of 3-Phase PMSM Actuator Dynamics

The objective of this project is to apply Machine-Learning techniques to develop a data-driven approach for learning physical models of electric PMSM-based actuators. These models may then be used to advance the sensing and control capabilities of Series Elastic Actuators used on the robotic syst ...

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Jun 16, 2017

The acoustic nanoswimmer

We develop a new class of nanoswimmer, which propels through aqueous solution by small-amplitude undulation of flexible tail in a predominant travelling acoustic waves.

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Jun 15, 2017

ANYmal on Rollerblades: Design, Simulation and Control of a Rollerblading Robot

This project explores novel design, simulation and locomotion principles to enable ANYmal to perform gaits that mimic those used by human rollerbladers, for example those that combine walking or running with skating motion.

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Jun 6, 2017

How does perturbing the knee modify kinematic variability and dynamic stability during walking?

Although humans are very good at maintaining balance while walking, how it is achieved is poorly understood. Our goal is to better understand dynamic balance control by describing responses to perturbations to the gait pattern, for example, by locking the knee joint during swing phase. In this pr ...

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Jun 5, 2017

Analysis of leg muscle activity during undisturbed and disturbed walking

A device called the ETH Knee Perturbator has been developed at the RELab. It can induce knee joint perturbations during walking. Measurements of muscle activity while wearing the device and during perturbations offers useful insight in muscle recruitment when gait is disturbed.

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May 23, 2017

Interaction Forces in Climbing: How to assess them in an affordable manner?

Although contact forces between climber and hold have been emphasized as an important component in successful climbing, affordable instrumentation to measure these forces are not available, especially for measuring holds with arbitrary shapes. In this project, affordable instrumention is develope ...

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Apr 20, 2017

3D Object Registration

The goal of this project is implementing and evaluating an object detection algorithm that is capable of dealing with clutter.

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Apr 12, 2017

Advanced lithographies for single-bacteria trapping

Single-cell analysis gives important insights into heterogeneity among cells and will be beneficial to cancer research, regenerative medicine and pharmaceutical development. A 3D-printer at the nanoscale will be used to produce micron-sized masters of wells for capturing single bacteria.

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Mar 30, 2017

Technology based assessment of upper limb function during the rehabilitation of neurological patients

The Virtual Peg Insertion Test (VPIT) is a novel tool to measure upper limb function to provide additional quantitative information during the rehabilitation of neurological patients.

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Mar 25, 2017

A real-time Event Camera Simulator

Event cameras such as the Dynamic Vision Sensor (DVS) are recent sensors with large potential for high-speed and high dynamic range robotic applications. The goal of this project is to extend and improve an existing event camera simulator developed in our lab.

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