Research Assistant - Soft Robotics, Haptic Sensing & SLAM

About the role

The Schaeffler Hub for Advanced Research at NTU (SHARE at NTU) is looking for a Research Assistant to carry out R&D on model-based haptic sensing and haptic SLAM for soft robotic systems. The work focuses on modelling, designing and experimentally implementing cable- or tendon-driven soft robots, with emphasis on estimating external interaction forces and contact states from proprioceptive measurements at the actuation system. The role involves building physics-based models, running simulations and validating methods on motor-driven soft robotic prototypes.

Key responsibilities

• Develop model-based haptic sensing and state-estimation methods for cable- or tendon-driven soft robots.
• Build analytical and numerical models of soft-robot deformation, cable/tendon transmission, actuator behaviour and robot-environment interaction.
• Infer external contact forces and interaction states from motor-side measurements such as position, velocity, current or torque feedback.
• Implement and evaluate models and algorithms using SoRoSim, MATLAB and related simulation tools.
• Design, fabricate, assemble and program multi-actuator soft robotic prototypes, including the robot body, cable transmission, HEBI Robotics actuators, sensors and control electronics.
• Develop coordinated multi-actuator control and data-acquisition software for experiments.
• Print rigid and compliant parts with Bambu Lab FDM 3D printers (PLA, TPU) and integrate them into prototypes.
• Run experiments to validate model accuracy and force estimation, analyse results and write technical reports and publications.

Required profile

• Bachelor's degree in Mechanical Engineering, Robotics, Mechatronics or a related field.
• Prior research or project experience in designing, modelling and experimentally validating soft or continuum robots, especially cable-driven ones.
• Hands-on experience building multi-actuator cable/tendon robots, from mechanical design and cable routing to assembly, calibration, control and testing.
• Experience with robotics modular actuators, including communication and coordinated control of several actuators.
• Experience using 3D printers to make PLA and TPU parts and integrating them with actuators and transmission mechanisms.

Required skills

• Physics-based or model-based soft-robot modelling; familiarity with SoRoSim or similar soft-robot simulation software is highly desirable.
• Proprioceptive sensing and model-based estimation from motor-side measurements.
• Mechanics, robotics, numerical modelling, system identification and experimental validation.
• Good written and oral communication, analytical thinking and technical documentation.