← Back to NASA Technology Projects
Active TRL 2 (started at 2, targeting 3)
This proposal aims to make NASA’s in-space robotic systems adaptable and multifunctional by enabling autonomous, closed-loop shape change in lightweight, compliant systems. I will do this by overcoming a fundamental issue in proprioception for shape-changing systems: current proprioceptive methods measure deformations from an initial model, rather than true global shape. They then fail when the resting or unactuated shape of the robot changes to adapt to a new task. To solve this, I present stretchable shape-sensing skins (S3s): a platform that, when applied to the surface of a shape-changing robot, can accurately sense its shape without reliance on an initial state or mechanical model. To push towards a vision of multifunctional, lightweight, and human-safe robotic systems, enabling and achieving shape change is essential. S3’s stretchable circuit hardware will be made by solving fundamental manufacturing issues that have kept stretchable circuits from widespread use. Shape estimation algorithms will then be developed to accurately and efficiently sense shape in real time. S3s will then be applied to an existing shape- and stiffness-changing, modular robotic platform to develop the algorithms necessary to achieve closed-loop shape change of a compliant robot for the first time. Shape-changing robots that can adapt to tasks would revolutionize many of NASAs current missions. For example, the current functionality of Astrobee would be augmented if the gripper could change shape and stiffness to achieve different tasks. With increased safety due to the arm/gripper’s compliant nature, Astrobees could help humans side-by-side, or act independently to maintain spacecraft. S3s also address NASA’s need to develop a single, lightweight robot platform that can change shape and gait to operate in multiple terrains. This proposal’s goal of estimating shape and achieving closed loop control of shape in robotic systems is an essential next step to enabling NASA’s next-generation fleet of adaptable, human-safe robots.
Listed on TechPort itself — the most direct way to ask about this specific project.
This is early/mid-stage (TRL 2) — the most realistic path in is NASA SBIR/STTR, which funds small businesses and research institutions to develop technology aligned with NASA's needs (equity-free, phased funding). Check whether a current SBIR/STTR solicitation topic overlaps with this project's technology area, or contact the project directly (above) to ask.
None of these are guaranteed paths for this specific project — TechPort itself doesn't have an "apply" button. Reaching out to the contact(s) above with a specific question is usually the fastest way to find out what's actually open.