Author Type

Graduate Student

Date of Award

2019

Document Type

Thesis

Publication Status

Version of Record

Submission Date

October 2026

Thesis/Dissertation Advisor [Chair]

Engeberg, Erik

Abstract

This thesis presents the work done to deliver a robotic system that provides assistance to operators at nuclear waste cleaning facilities. The work done to deliver such system was focused on robotic control and tactile sensing abilities. Haptic feedback mechanism was also added to the system to convey information for the operator. First chapter of the thesis introduces the goals and objectives of this project as well as a detailed literature review on the subsystems used. Second chapter presents previous work done in the area of soft robotics. Such work proved important as the haptic feedback mechanism utilizes a soft robotic armband. Third chapter introduces phase one of the main project. This chapter justifies the use of the selected robots and introduces the concept of adding tactile abilities to the robotic hand used. Chapter four introduces phase two of the project that focused on improving phase one system via a new tactile sensor.

Extent

97 p.

Comments

Includes bibliography.|Thesis (M.S.)--Florida Atlantic University, 2019.|FAU Electronic Theses and Dissertations Collection|Includes bibliography.

Identifier

FA00013353

Format

pdf

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