This $272,617 National Science Foundation (NSF) Engineering program (CFDA 47.041) award to the University of Illinois supports fundamental research on high-dimensional proprioceptive and tactile sensing methods for soft robotic grippers. The project aims to develop a new framework, called DeepSORO, that uses embedded cameras and advanced deep learning models to provide real-time, high-resolution sensing and state estimation of the grippers' kinematics and dynamics. This research seeks to overcome key limitations of existing soft grippers in modeling and sensing their own states, enabling more dexterous and safe manipulation capabilities in complex environments. The project follows a convergent research approach spanning robotics, artificial intelligence, and education to broaden participation in engineering. No sub-awards are planned under this award, which runs from October 2023 through February 2024.
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