Internship: Control of a Tendon-Driven Robotic Hand

10 weeks| Rotterdam

Position Overview

The SenseGlove R1 glove has force feedback control to control the tension on the wire which pulls the finger back. This is currently a simple P controller.

To keep the loop stable, the Kp is low, which results in the force goal not being fully reached.

You will actually implement your control idea on the SenseGlove R1. If you succeed in improving our current algorithm, it will be used and shipped to customers!

Responsibilities

**Proposing a solution while taking the following

        into account**

• Increasing Kp or adding I/D terms can introduce instability due to noise and system dynamics.

• The controller operates at approximately 400 Hz.

• No motor encoder is available; only raw sensor values from the exoskeleton encoders can be used at low latency.

• When the cable goes slack, sensor readings may differ from actual motor movement.

• The controller board cannot run expensive kinematic computations.

Propose a strategy for a better controller

• Develop a control strategy that improves force-feedback stability in the ~400 Hz control loop while dealing with sensor noise and dynamic effects that limit aggressive gain tuning.

• Use only low-latency raw exoskeleton encoder signals, since no motor encoder is available and computationally expensive kinematic processing is not allowed on the controller board.

• If device characterization is part of the strategy, clearly define the experimental tests: specify motor command signals, whether finger movement is allowed during testing, and which signals will be measured to analyze system behavior.

Who We're Looking For

• Control education and/or hands on experience

• Pre: Basic C++ / C

** You will be asked to explain your approach or where you would start during the interview, so please be prepared to discuss your idea.**

What we offer?

• Duration: 10 weeks (flexible)

• A collaborative R&D environment in Rotterdam

• An open and vibrant work culture

• Bi-weekly company lunch

• Quarterly team activities

• Weekly fresh fruit delivery in office

• Monthly compensation of €342

What Else Is Good To Know?

At SenseGlove you can be yourself. That includes your gender identity, sexual orientation, religion, ethnicity, age or disability status. Diversity is important to us. And here's a few more things about us: Forbes: How Senseglove Could Change Virtual Reality Training Forever (https://bit.ly/3tbbfss) Video Future Innovation Week with SenseGlove (https://youtu.be/58qVOs8JdFo)

Contact us right away

If you are interested, please send us your resume and a letter indicating your motivation regarding the job description and your experience regarding the skill set. If you have additional questions, feel free to give us a call : 015 200 2148

Apply for

Internship: Reliable Force control on the R1 Glove​

Tell us what makes you special and why we should hire you and we'll let you know if we're interested in an introductory meeting.

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