So, my final first-author research paper from PhD was recently published in IEEE Robotics and Automation Letters. Fittingly, this paper "Robotic Skins With Integrated Actuation, Sensing, and Variable Stiffness" (2nd author Stephanie Woodman ) built upon the concepts introduced in my first PhD paper, "OmniSkins: Robotic skins that turn inanimate objects into multifunctional robots" (first author Joran Booth).
Order for this post: PhD summary, reflection, links @ bottom.
OmniSkins introduced the idea of integrating actuators and sensors into thin sheets that could be wrapped around soft objects to "roboticize" them. The robotic skins could be quickly reconfigured to switch between various functions, including grasping, locomotion, and giving users sensory feedback in a wearable "smart garment". However, I was frustrated by the skins' inability to hold their own shape (always needed a host object), and their limited ability to sense their shape.
Hence, my coauthors and I subsequently: introduced jamming skins that could stretch, then lock into a desired shape upon application of vacuum pressure; developed closed-loop control algorithms for robotic skins (primarily written by Jennifer Case); developed stretchable circuits (building on Shanliangzi Liu's manufacturing techniques) to make "shape sensing sheets" that could estimate their 3D shape in absence of a mechanical model.
This final paper takes a bit from each of those papers, and, as the title suggests, integrates actuation, sensing, and variable stiffness into robotic skins.
As this chapter to my life comes to a close, I have gained some clarity on my experience. After countless experiments, revisions, whiteboard sessions, etc., I think I learned four things.
1. How to write
2. How to organize
3. How to debate
4. How to do research efficiently in teams (i.e., balance competitive advantages/specialization with cross-checking work)
Don't get me wrong - I love reading and learning about engineering/math/science - but I think those meta-skills above are far more valuable than any of the scientific learning I achieved. If I were starting another PhD right now, those four are definitely what I would focus on first.
This was going to be a much longer post, but I kept hitting the LinkedIn limit. 😂 Maybe it's time to start a blog?
Main link: https://lnkd.in/eRgu34eG
Preprint on my personal website: https://lnkd.in/eNyp3x43
38