At Friday’s lab meeting I demonstrated the inflatable grasper performing the two tasks I have video of: shaving and toothbrushing. The major feedback I received about the videos was that the model should appear more enthused and in the shaving task lather should be applied. I will act on this feedback. Additional tasks were also discussed, designed to determine the versatility and weakness of the current gripper design. Some of the ones that stuck include:
using a washcloth
applying makeup- eyeliner, mascara, lipstick etc.
wielding electric razors and scissors
I also received feedback on my sensor choices. It was agreed upon that the most ideal measurement to work from would be internal pressure of the cuff. The issue with this method of feedback was the possibility for plastic deformation which causes pressure values to become unlinked from the exerted force/volume of the tube. With creative link and cuff construction, the plastic deformation can be avoided and thus pressure can be a useful means for feedback.
My original solution to this problem involved making a tactile skin. I will still construct this skin by embedding forces sensors in the polyurethane film. According to Chris, feedback from these particular sensors has proved unreliable in the past, and I should not expect accurate feedback from them.