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.

Research Assistant (Mechanical Engineering / Robotics / Mechatronics)