MEAM Ph.D. Thesis Defense: “Leveraging Impedance-Related Properties for Free Self-Sensing in Actuators for Compact Robots”
Raisler Lounge (Room 225), Towne Building 220 South 33rd Street, Philadelphia, PA, United StatesRobotic systems, particularly at small scales, require efficient actuation and sensing solutions that maintain compactness. We are interested in systems where sensing and actuation are seamlessly integrated, specifically using impedance-related properties—such as electrical resistance, induced electromotive force (emf), and inductance— for free self-sensing in actuators without additional sensors. We explore three main example applications: (1) […]