Research Assistant (Mechanical Engineering / Robotics / Mechatronics)

Schaeffler Hub for Advanced Research at NTU is a collaborative research center between Nanyang Technological University and Schaeffler Group. The Schaeffler SHARE program comprises a global research network with leading universities globally. The on-campus concept provides a structured approach focused on applied research in strategically important topics aligned with Schaeffler’s strategic roadmap for a fast and thorough transfer of research output into the industry. SHARE at NTU aims to expand the current state of technology and build on Robotics & Industry 4.0 as aligned with Schaeffler’s strategic roadmap.SHARE at NTU also serves as a platform in identifying and developing new talents via various collaboration initiatives with the University. For more details, please view https://www.schaeffler.sg/en/company/share-at-ntu/ .

Key Job Purpose
We are seeking a Research Assistant to conduct research and development in model-based haptic sensing and haptic SLAM for soft robotic systems. The role will focus on the modelling, design and experimental implementation of cable- or tendon-driven soft robots, with particular emphasis on estimating external interaction forces and contact states from proprioceptive measurements available at the robot actuation system. The successful candidate will develop physics-based models of soft-robot deformation and cable transmission, implement numerical and simulation models using tools such as SoRoSim and MATLAB, and validate the proposed sensing and estimation methods on motor-driven soft robotic prototypes for contact-rich interaction and manipulation.

Key Responsibilities:

- Conduct research and develop model-based haptic sensing and state-estimation methods for cable- or tendon-driven soft robotic systems.

- Develop analytical and numerical models of soft-robot deformation, cable/tendon transmission, actuator behaviour, and robot-environment interaction.

- Develop methods to infer external contact forces and interaction states from motor-side proprioceptive measurements, including motor position, velocity, current or torque feedback, and cable/tendon actuation states.

- Implement and evaluate soft-robot models, sensing algorithms and estimation methods using SoRoSim, MATLAB and related numerical or simulation environments.

- Design, fabricate, assemble and program multi-actuator cable/tendon-driven soft robotic prototypes, including the soft robot body, cable-transmission mechanisms, HEBI Robotics actuators, sensors and control electronics.

- Develop coordinated multi-actuator control and synchronized data-acquisition software for soft robotic experiments, including configuration, command and feedback handling for HEBI Robotics actuators.

- Fabricate rigid and compliant prototype components using Bambu Lab FDM 3D printers and materials such as PLA and TPU, and integrate the printed components into soft robotic systems.

- Design and conduct experiments to validate model accuracy, force/contact estimation performance and robustness under different robot configurations and external interaction conditions.

- Analyse simulation and experimental results, document modelling and experimental procedures, and prepare technical reports and research publications.

Job Requirements:

- Bachelor's degree in Mechanical Engineering, Robotics, Mechatronics, or a related field.

- Prior research or project experience in the design, modelling, fabrication and experimental validation of soft or continuum robotic systems, particularly cable-driven or tendon-driven soft robots.

- Demonstrated hands-on experience in end-to-end development of multi-actuator cable/tendon-driven robotic prototypes, including mechanical body design, cable routing and transmission, motor integration, fabrication, assembly, calibration, control and experimental testing.

- Demonstrated Hands-on experience with Robotics modular actuators, including hardware configuration, communication, position/velocity/torque-related command and feedback handling, and coordinated control of multiple actuators.

- Hands-on experience using 3D printers to fabricate robotic components, including practical experience printing both rigid PLA parts and flexible TPU parts for the assembly and experimental development of soft robotic systems.

- Experience in integrating rigid printed components, flexible TPU structures, actuators, cable/tendon transmission mechanisms and other mechanical components into a complete soft robotic prototype.

- Experience in physics-based or model-based modelling of soft robots, including deformation, actuation, cable/tendon transmission and external interaction; familiarity with SoRoSim or equivalent soft-robot modelling and simulation software is highly desirable.

- Familiarity with proprioceptive sensing and model-based estimation using motor-side measurements, such as position, velocity, current, torque or cable/tendon actuation information, to infer robot deformation, transmission forces or external interaction forces.

- Familiarity with mechanics, robotics, numerical modelling, system identification and experimental validation.

- Good written and oral communication skills, with competence in analytical thinking, research problem-solving, mechanical prototyping, experimental design and technical documentation.

We regret to inform that only shortlisted candidates will be notified.

Hiring Institution: NTU