{"id":155542,"date":"2024-05-02T16:09:10","date_gmt":"2024-05-02T20:09:10","guid":{"rendered":"https:\/\/www.hajim.rochester.edu\/senior-design-day\/?p=155542"},"modified":"2025-05-02T15:12:47","modified_gmt":"2025-05-02T19:12:47","slug":"tactile-end-effector-for-baxter-sawyer-robot","status":"publish","type":"post","link":"https:\/\/www.hajim.rochester.edu\/senior-design-day\/tactile-end-effector-for-baxter-sawyer-robot\/","title":{"rendered":"Tactile End-Effector for Baxter\/Sawyer Robot"},"content":{"rendered":"\n<h3 class=\"wp-block-heading\">Problem Statement:<\/h3>\n\n\n\n<p>Design a custom end-effector with tactile feedback which integrates with the Baxter \/ Sawyer Research robot arm, capable of manipulating YCB Benchmark objects. Existing designs are too expensive or lack full mobility.&nbsp;<\/p>\n\n\n\n<hr class=\"wp-block-separator aligncenter has-alpha-channel-opacity is-style-default\"\/>\n\n\n\n<div aria-label=\"Carousel Gallery\" class=\"wp-block-coblocks-gallery-carousel mb-0 mt-0\"><div class=\"coblocks-gallery-carousel-swiper-container is-cropped coblocks-gallery has-no-alignment has-border-radius-2 has-caption-style-dark has-horizontal-gutter has-lightbox has-no-thumbnails\"><div class=\"has-carousel has-carousel-lrg swiper-container has-aligned-cells has-responsive-height\" data-swiper=\"{&quot;alignCells&quot;:true,&quot;autoPlay&quot;:true,&quot;autoPlaySpeed&quot;:&quot;4000&quot;,&quot;draggable&quot;:true,&quot;freeMode&quot;:false,&quot;loop&quot;:true,&quot;navigation&quot;:true,&quot;pageDots&quot;:false,&quot;pauseHover&quot;:false,&quot;responsiveHeight&quot;:true,&quot;slidesPerView&quot;:2,&quot;thumbnails&quot;:false,&quot;uuid&quot;:&quot;12345&quot;}\" style=\"height:400px\"><div class=\"swiper-wrapper\"><div class=\"swiper-slide\"><div class=\"coblocks-gallery--item\" role=\"button\" tabindex=\"0\"><figure class=\"coblocks-gallery--figure has-margin-left-5 has-margin-left-mobile-5 has-margin-right-5 has-margin-right-mobile-5\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"644\" alt=\"\" class=\"wp-image-173402\" data-id=\"173402\" src=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/finalGripperCAD-1-1024x644.png\" srcset=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/finalGripperCAD-1-1024x644.png 1024w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/finalGripperCAD-1-300x189.png 300w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/finalGripperCAD-1-768x483.png 768w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/finalGripperCAD-1-1536x965.png 1536w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/finalGripperCAD-1-1920x1207.png 1920w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/finalGripperCAD-1.png 2048w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure><figcaption class=\"coblocks-gallery--caption coblocks-gallery--primary-caption\"><em>Final CAD Assembly &#8211; Siemens NX<\/em><\/figcaption><\/div><\/div><div class=\"swiper-slide\"><div class=\"coblocks-gallery--item\" role=\"button\" tabindex=\"1\"><figure class=\"coblocks-gallery--figure has-margin-left-5 has-margin-left-mobile-5 has-margin-right-5 has-margin-right-mobile-5\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"811\" alt=\"\" class=\"wp-image-174042\" data-id=\"174042\" data-link=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/?attachment_id=174042\" src=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/finalGripperCAD4-1024x811.png\" srcset=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/finalGripperCAD4-1024x811.png 1024w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/finalGripperCAD4-300x237.png 300w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/finalGripperCAD4-768x608.png 768w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/finalGripperCAD4.png 1286w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure><figcaption class=\"coblocks-gallery--caption coblocks-gallery--primary-caption\"><\/figcaption><\/div><\/div><div class=\"swiper-slide\"><div class=\"coblocks-gallery--item\" role=\"button\" tabindex=\"2\"><figure class=\"coblocks-gallery--figure has-margin-left-5 has-margin-left-mobile-5 has-margin-right-5 has-margin-right-mobile-5\"><img loading=\"lazy\" decoding=\"async\" width=\"721\" height=\"511\" alt=\"\" class=\"wp-image-174052\" data-id=\"174052\" data-link=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/?attachment_id=174052\" src=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/finalGripperCAD3.png\" srcset=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/finalGripperCAD3.png 721w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/finalGripperCAD3-300x213.png 300w\" sizes=\"auto, (max-width: 721px) 100vw, 721px\" \/><\/figure><figcaption class=\"coblocks-gallery--caption coblocks-gallery--primary-caption\"><\/figcaption><\/div><\/div><div class=\"swiper-slide\"><div class=\"coblocks-gallery--item\" role=\"button\" tabindex=\"3\"><figure class=\"coblocks-gallery--figure has-margin-left-5 has-margin-left-mobile-5 has-margin-right-5 has-margin-right-mobile-5\"><img loading=\"lazy\" decoding=\"async\" width=\"886\" height=\"562\" alt=\"\" class=\"wp-image-174062\" data-id=\"174062\" data-link=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/?attachment_id=174062\" src=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/finalGripperCAD2.png\" srcset=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/finalGripperCAD2.png 886w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/finalGripperCAD2-300x190.png 300w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/finalGripperCAD2-768x487.png 768w\" sizes=\"auto, (max-width: 886px) 100vw, 886px\" \/><\/figure><figcaption class=\"coblocks-gallery--caption coblocks-gallery--primary-caption\"><\/figcaption><\/div><\/div><div class=\"swiper-slide\"><div class=\"coblocks-gallery--item\" role=\"button\" tabindex=\"4\"><figure class=\"coblocks-gallery--figure has-margin-left-5 has-margin-left-mobile-5 has-margin-right-5 has-margin-right-mobile-5\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"758\" alt=\"\" class=\"wp-image-174212\" data-id=\"174212\" data-link=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/?attachment_id=174212\" src=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/finalGripperCAD5-1024x758.png\" srcset=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/finalGripperCAD5-1024x758.png 1024w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/finalGripperCAD5-300x222.png 300w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/finalGripperCAD5-768x568.png 768w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/finalGripperCAD5.png 1466w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure><figcaption class=\"coblocks-gallery--caption coblocks-gallery--primary-caption\"><\/figcaption><\/div><\/div><\/div><button class=\"nav-button__prev\" id=\"12345-prev\"><svg class=\"icon\" style=\"transform:rotate(180deg)\"><\/svg><\/button><button class=\"nav-button__next\" id=\"12345-next\"><svg class=\"icon\"><\/svg><\/button><\/div><\/div><\/div>\n\n\n\n<p style=\"font-size:17px\"><em>Final Design of Gripper System \/ YCB Object &#8220;Playground&#8221; &#8211; Siemens NX<\/em><\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\">Our Team:<\/h2>\n\n\n\n<div class=\"wp-block-group mt-0\"><div class=\"wp-block-group__inner-container is-layout-constrained wp-block-group-is-layout-constrained\">\n<div class=\"wp-block-group is-horizontal is-content-justification-center is-nowrap is-layout-flex wp-container-core-group-is-layout-c1dfda1e wp-block-group-is-layout-flex\">\n<div class=\"wp-block-group mb-0 mt-0 is-vertical is-content-justification-center is-layout-flex wp-container-core-group-is-layout-4b2eccd6 wp-block-group-is-layout-flex\">\n<div aria-label=\"Offset Gallery\" class=\"wp-block-coblocks-gallery-offset\"><ul class=\"coblocks-gallery has-no-alignment has-caption-style-dark has-small-images has-custom-gutter\" style=\"--coblocks-custom-gutter:0em\"><li class=\"coblocks-gallery--item\"><figure class=\"wp-block-coblocks-gallery-offset__figure\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"1024\" src=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-6-1024x1024.png\" alt=\"\" data-id=\"169622\" class=\"wp-image-169622\" srcset=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-6-1024x1024.png 1024w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-6-300x300.png 300w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-6-150x150.png 150w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-6-768x768.png 768w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-6.png 1080w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure><\/li><\/ul><\/div>\n\n\n\n<p class=\"has-text-align-center mt-0 pt-0\" style=\"font-size:16px\"><strong>Aaron Chuang<\/strong><br> Class of 2024<br>Main Body Design, Mechatronics, System Integration, Manufacturing<\/p>\n<\/div>\n\n\n\n<div class=\"wp-block-group mb-0 is-vertical is-content-justification-center is-layout-flex wp-container-core-group-is-layout-4b2eccd6 wp-block-group-is-layout-flex\">\n<div aria-label=\"Offset Gallery\" class=\"wp-block-coblocks-gallery-offset\"><ul class=\"coblocks-gallery has-no-alignment has-caption-style-dark has-small-images has-custom-gutter\" style=\"--coblocks-custom-gutter:0em\"><li class=\"coblocks-gallery--item\"><figure class=\"wp-block-coblocks-gallery-offset__figure\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"1024\" src=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-3-1-1024x1024.png\" alt=\"\" data-id=\"169122\" data-imglink=\"\" data-link=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/?attachment_id=169122\" class=\"wp-image-169122\" srcset=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-3-1-1024x1024.png 1024w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-3-1-300x300.png 300w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-3-1-150x150.png 150w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-3-1-768x768.png 768w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-3-1.png 1080w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure><\/li><\/ul><\/div>\n\n\n\n<p class=\"has-text-align-center mt-0 pt-0\" style=\"font-size:16px\"><strong>Bruno Coelho<\/strong><br>Class of 2024 <br>Grip Arm\/Tip Design, TPU skin implementation, Gripper geometry optimization<\/p>\n<\/div>\n\n\n\n<div class=\"wp-block-group mb-0 is-vertical is-content-justification-center is-layout-flex wp-container-core-group-is-layout-4b2eccd6 wp-block-group-is-layout-flex\">\n<div aria-label=\"Offset Gallery\" class=\"wp-block-coblocks-gallery-offset\"><ul class=\"coblocks-gallery has-no-alignment has-caption-style-dark has-small-images has-custom-gutter\" style=\"--coblocks-custom-gutter:0em\"><li class=\"coblocks-gallery--item\"><figure class=\"wp-block-coblocks-gallery-offset__figure\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"1024\" src=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-2-1-1024x1024.png\" alt=\"\" data-id=\"169152\" data-imglink=\"\" data-link=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/?attachment_id=169152\" class=\"wp-image-169152\" srcset=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-2-1-1024x1024.png 1024w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-2-1-300x300.png 300w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-2-1-150x150.png 150w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-2-1-768x768.png 768w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-2-1.png 1080w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure><\/li><\/ul><\/div>\n\n\n\n<p class=\"has-text-align-center mt-0 pt-0\" style=\"font-size:16px\"><strong>Tiffany Lin<\/strong><br>Class of 2024 <br>Manufacturing Drawings, Design, Planning, Purchasing, Technical Writing<\/p>\n<\/div>\n\n\n\n<div class=\"wp-block-group is-vertical is-content-justification-center is-layout-flex wp-container-core-group-is-layout-4b2eccd6 wp-block-group-is-layout-flex\">\n<div aria-label=\"Offset Gallery\" class=\"wp-block-coblocks-gallery-offset\"><ul class=\"coblocks-gallery has-no-alignment has-caption-style-dark has-small-images has-custom-gutter\" style=\"--coblocks-custom-gutter:0em\"><li class=\"coblocks-gallery--item\"><figure class=\"wp-block-coblocks-gallery-offset__figure\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"1024\" src=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-1-1024x1024.png\" alt=\"\" data-id=\"169112\" data-imglink=\"\" data-link=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/?attachment_id=169112\" class=\"wp-image-169112\" srcset=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-1-1024x1024.png 1024w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-1-300x300.png 300w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-1-150x150.png 150w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-1-768x768.png 768w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-1.png 1080w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure><\/li><\/ul><\/div>\n\n\n\n<p class=\"has-text-align-center mt-0 pt-0\" style=\"font-size:16px\"><strong>Yifan Wei<\/strong> <br>Class of 2024 <br>Compliant Backplate Design,  Design Analysis, Manufacturing<\/p>\n<\/div>\n<\/div>\n<\/div><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">Project Mentors \/ Sponsor:<\/h2>\n\n\n\n<div class=\"wp-block-group mb-0 mt-0 is-content-justification-center is-nowrap is-layout-flex wp-container-core-group-is-layout-94bc23d7 wp-block-group-is-layout-flex\">\n<div class=\"wp-block-group mb-0 mt-0 is-vertical is-content-justification-center is-layout-flex wp-container-core-group-is-layout-4b2eccd6 wp-block-group-is-layout-flex\">\n<div aria-label=\"Offset Gallery\" class=\"wp-block-coblocks-gallery-offset\"><ul class=\"coblocks-gallery has-no-alignment has-caption-style-dark has-small-images has-custom-gutter\" style=\"--coblocks-custom-gutter:0em\"><li class=\"coblocks-gallery--item\"><figure class=\"wp-block-coblocks-gallery-offset__figure\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"1024\" src=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-4-1-1024x1024.png\" alt=\"\" data-id=\"169742\" data-imglink=\"\" data-link=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/?attachment_id=169742\" class=\"wp-image-169742\" srcset=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-4-1-1024x1024.png 1024w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-4-1-300x300.png 300w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-4-1-150x150.png 150w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-4-1-768x768.png 768w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-4-1.png 1080w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure><\/li><\/ul><\/div>\n\n\n\n<p class=\"has-text-align-center mt-0 pt-0\" style=\"font-size:16px\"><strong>Christopher Muir<\/strong><br>ME 205 Professor, Project Mentor<\/p>\n<\/div>\n\n\n\n<div class=\"wp-block-group mb-0 is-vertical is-content-justification-center is-layout-flex wp-container-core-group-is-layout-4b2eccd6 wp-block-group-is-layout-flex\">\n<div aria-label=\"Offset Gallery\" class=\"wp-block-coblocks-gallery-offset\"><ul class=\"coblocks-gallery has-no-alignment has-caption-style-dark has-small-images has-small-gutter\"><li class=\"coblocks-gallery--item\"><figure class=\"wp-block-coblocks-gallery-offset__figure\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"1024\" src=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-5-1-1024x1024.png\" alt=\"\" data-id=\"169732\" data-imglink=\"\" data-link=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/?attachment_id=169732\" class=\"wp-image-169732\" srcset=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-5-1-1024x1024.png 1024w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-5-1-300x300.png 300w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-5-1-150x150.png 150w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-5-1-768x768.png 768w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-5-1.png 1080w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure><\/li><\/ul><\/div>\n\n\n\n<p class=\"has-text-align-center mt-0 pt-0\" style=\"font-size:16px\"><strong>Thomas Howard<\/strong><br>Project Sponsor<\/p>\n<\/div>\n\n\n\n<div class=\"wp-block-group mb-0 is-vertical is-content-justification-center is-layout-flex wp-container-core-group-is-layout-4b2eccd6 wp-block-group-is-layout-flex\">\n<div aria-label=\"Offset Gallery\" class=\"wp-block-coblocks-gallery-offset\"><ul class=\"coblocks-gallery has-no-alignment has-caption-style-dark has-small-images has-custom-gutter\" style=\"--coblocks-custom-gutter:0em\"><li class=\"coblocks-gallery--item\"><figure class=\"wp-block-coblocks-gallery-offset__figure\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"1024\" src=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-6-1-1024x1024.png\" alt=\"\" data-id=\"170122\" data-imglink=\"\" data-link=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/?attachment_id=170122\" class=\"wp-image-170122\" srcset=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-6-1-1024x1024.png 1024w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-6-1-300x300.png 300w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-6-1-150x150.png 150w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-6-1-768x768.png 768w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Untitled-design-6-1.png 1080w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure><\/li><\/ul><\/div>\n\n\n\n<p class=\"has-text-align-center mt-0 pt-0\" style=\"font-size:16px\"><strong>Jim Alkins<\/strong><br>Project Manufacturing Adivsor<\/p>\n<\/div>\n\n\n\n<div class=\"wp-block-group mb-0 is-vertical is-content-justification-center is-layout-flex wp-container-core-group-is-layout-4b2eccd6 wp-block-group-is-layout-flex\">\n<div aria-label=\"Offset Gallery\" class=\"wp-block-coblocks-gallery-offset\"><ul class=\"coblocks-gallery has-no-alignment has-caption-style-dark has-small-images has-custom-gutter\" style=\"--coblocks-custom-gutter:0em\"><li class=\"coblocks-gallery--item\"><figure class=\"wp-block-coblocks-gallery-offset__figure\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"1024\" src=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/image-13.png\" alt=\"\" data-id=\"170262\" data-imglink=\"\" data-link=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/?attachment_id=170262\" class=\"wp-image-170262\" srcset=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/image-13.png 1024w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/image-13-300x300.png 300w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/image-13-150x150.png 150w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/image-13-768x768.png 768w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure><\/li><\/ul><\/div>\n\n\n\n<p class=\"has-text-align-center mt-0 pt-0\" style=\"font-size:16px\"><strong>Rebeca Zapiach<\/strong><br>ME205 TA, Project Mentor<\/p>\n<\/div>\n<\/div>\n\n\n\n<h2 class=\"wp-block-heading\">Abstract:<\/h2>\n\n\n\n<p>In the field of manufacturing, there is often a problem of tasks being too dangerous, difficult, or monotonous for human workers to perform. In order to solve this issue, manufacturing robots are implemented, and must be able to grasp a similar array of objects as a human hand so as to perform the same tasks. A tactile sensing gripper end effector has been designed and prototyped for the Baxter and Sawyer robots to aid in these efforts. At the time of this report, the gripper has successfully been able to grasp all 10 of a varied set of objects. The results indicate that replication of human grasping is possible with a non-hand-shaped end effector and that a truly efficient end effector is able to grasp different objects with the same design.<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<figure class=\"wp-block-image size-full mb-0\"><img loading=\"lazy\" decoding=\"async\" width=\"2500\" height=\"1875\" src=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Gripper_DDPoster.pptx.jpg\" alt=\"\" class=\"wp-image-172722\" srcset=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Gripper_DDPoster.pptx.jpg 2500w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Gripper_DDPoster.pptx-300x225.jpg 300w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Gripper_DDPoster.pptx-1024x768.jpg 1024w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Gripper_DDPoster.pptx-768x576.jpg 768w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Gripper_DDPoster.pptx-1536x1152.jpg 1536w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Gripper_DDPoster.pptx-2048x1536.jpg 2048w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Gripper_DDPoster.pptx-1920x1440.jpg 1920w\" sizes=\"auto, (max-width: 2500px) 100vw, 2500px\" \/><figcaption class=\"wp-element-caption\"><em>Senior Design Day 2024 Poster<\/em><\/figcaption><\/figure>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\">Project Presentation &amp; Final Design Report:<\/h3>\n\n\n\n<div class=\"wp-block-coblocks-accordion\">\n<div class=\"wp-block-coblocks-accordion-item\"><details><summary class=\"wp-block-coblocks-accordion-item__title\"><strong>Gripper Team Presentation &#8211; Slides<\/strong><\/summary><div class=\"wp-block-coblocks-accordion-item__content\">\n<p><\/p>\n\n\n\n<div data-wp-interactive=\"core\/file\" class=\"wp-block-file\"><object data-wp-bind--hidden=\"!state.hasPdfPreview\" hidden class=\"wp-block-file__embed\" data=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Gripper_DDPresentation.pptx.pdf\" type=\"application\/pdf\" style=\"width:100%;height:600px\" aria-label=\"Embed of Gripper_DDPresentation.\"><\/object><a id=\"wp-block-file--media-d6815124-b151-4b34-bec9-af1a3605ec86\" href=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Gripper_DDPresentation.pptx.pdf\">Gripper_DDPresentation<\/a><a href=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Gripper_DDPresentation.pptx.pdf\" class=\"wp-block-file__button wp-element-button\" download aria-describedby=\"wp-block-file--media-d6815124-b151-4b34-bec9-af1a3605ec86\">Download<\/a><\/div>\n<\/div><\/details><\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-coblocks-accordion\">\n<div class=\"wp-block-coblocks-accordion-item\"><details><summary class=\"wp-block-coblocks-accordion-item__title\"><strong>Gripper Team Presentation &#8211; Video<\/strong><\/summary><div class=\"wp-block-coblocks-accordion-item__content\">\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<div class=\"wp-embed\"><div class=\"wp-embed-wrap\"><iframe loading=\"lazy\" title=\"Gripper Team Presentation\" width=\"1062\" height=\"597\" src=\"https:\/\/www.youtube.com\/embed\/hDfUmN_iHNg?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe><\/div><\/div>\n<\/div><\/figure>\n<\/div><\/details><\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-coblocks-accordion\">\n<div class=\"wp-block-coblocks-accordion-item\"><details><summary class=\"wp-block-coblocks-accordion-item__title\"><strong>Gripper Team Final Design Report<\/strong> <strong>&#8211; PDF<\/strong><\/summary><div class=\"wp-block-coblocks-accordion-item__content\">\n<p><\/p>\n\n\n\n<div data-wp-interactive=\"core\/file\" class=\"wp-block-file\"><object data-wp-bind--hidden=\"!state.hasPdfPreview\" hidden class=\"wp-block-file__embed\" data=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Gripper_FDR_ME205_compressed.pdf\" type=\"application\/pdf\" style=\"width:100%;height:600px\" aria-label=\"Embed of Gripper_FDR_ME205_compressed.\"><\/object><a id=\"wp-block-file--media-41092ba2-3697-4f64-ab38-9be00d6d9b28\" href=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Gripper_FDR_ME205_compressed.pdf\">Gripper_FDR_ME205_compressed<\/a><a href=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/Gripper_FDR_ME205_compressed.pdf\" class=\"wp-block-file__button wp-element-button\" download aria-describedby=\"wp-block-file--media-41092ba2-3697-4f64-ab38-9be00d6d9b28\">Download<\/a><\/div>\n<\/div><\/details><\/div>\n<\/div>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\">Project Highlights:<\/h2>\n\n\n\n<details class=\"wp-block-details has-medium-font-size is-layout-flow wp-block-details-is-layout-flow\"><summary>Concept Selection &#8211; Sketches<\/summary>\n<h4 class=\"wp-block-heading\">Early Sketches:<\/h4>\n\n\n\n<div aria-label=\"Carousel Gallery\" class=\"wp-block-coblocks-gallery-carousel alignfull mb-0 mt-0\"><div class=\"coblocks-gallery-carousel-swiper-container is-cropped coblocks-gallery has-border-radius-5 has-caption-style-dark has-horizontal-gutter has-no-thumbnails\"><div class=\"has-carousel has-carousel-lrg swiper-container has-aligned-cells has-responsive-height\" data-swiper=\"{&quot;alignCells&quot;:true,&quot;autoPlay&quot;:true,&quot;autoPlaySpeed&quot;:&quot;4000&quot;,&quot;draggable&quot;:true,&quot;freeMode&quot;:false,&quot;loop&quot;:true,&quot;navigation&quot;:true,&quot;pageDots&quot;:true,&quot;pauseHover&quot;:false,&quot;responsiveHeight&quot;:true,&quot;slidesPerView&quot;:2,&quot;thumbnails&quot;:false,&quot;uuid&quot;:&quot;12345&quot;}\" style=\"height:318px\"><div class=\"swiper-wrapper\"><div class=\"swiper-slide\"><div class=\"coblocks-gallery--item\" role=\"button\" tabindex=\"0\"><figure class=\"coblocks-gallery--figure has-margin-left-5 has-margin-left-mobile-5 has-margin-right-5 has-margin-right-mobile-5\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"835\" alt=\"\" class=\"wp-image-173812\" data-id=\"173812\" data-link=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/?attachment_id=173812\" src=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/photo_2024-05-02_13-29-59-2-1024x835.jpg\" srcset=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/photo_2024-05-02_13-29-59-2-1024x835.jpg 1024w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/photo_2024-05-02_13-29-59-2-300x245.jpg 300w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/photo_2024-05-02_13-29-59-2-768x626.jpg 768w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/photo_2024-05-02_13-29-59-2.jpg 1280w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure><figcaption class=\"coblocks-gallery--caption coblocks-gallery--primary-caption\"><\/figcaption><\/div><\/div><div class=\"swiper-slide\"><div class=\"coblocks-gallery--item\" role=\"button\" tabindex=\"1\"><figure class=\"coblocks-gallery--figure has-margin-left-5 has-margin-left-mobile-5 has-margin-right-5 has-margin-right-mobile-5\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"779\" alt=\"\" class=\"wp-image-173822\" data-id=\"173822\" data-link=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/?attachment_id=173822\" src=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/photo_2024-05-02_13-29-54-2-1024x779.jpg\" srcset=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/photo_2024-05-02_13-29-54-2-1024x779.jpg 1024w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/photo_2024-05-02_13-29-54-2-300x228.jpg 300w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/photo_2024-05-02_13-29-54-2-768x584.jpg 768w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/photo_2024-05-02_13-29-54-2.jpg 1280w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure><figcaption class=\"coblocks-gallery--caption coblocks-gallery--primary-caption\"><\/figcaption><\/div><\/div><div class=\"swiper-slide\"><div class=\"coblocks-gallery--item\" role=\"button\" tabindex=\"2\"><figure class=\"coblocks-gallery--figure has-margin-left-5 has-margin-left-mobile-5 has-margin-right-5 has-margin-right-mobile-5\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"762\" alt=\"\" class=\"wp-image-173832\" data-id=\"173832\" data-link=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/?attachment_id=173832\" src=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/photo_2024-05-02_13-29-49-2-1024x762.jpg\" srcset=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/photo_2024-05-02_13-29-49-2-1024x762.jpg 1024w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/photo_2024-05-02_13-29-49-2-300x223.jpg 300w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/photo_2024-05-02_13-29-49-2-768x571.jpg 768w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/photo_2024-05-02_13-29-49-2.jpg 1280w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure><figcaption class=\"coblocks-gallery--caption coblocks-gallery--primary-caption\"><\/figcaption><\/div><\/div><div class=\"swiper-slide\"><div class=\"coblocks-gallery--item\" role=\"button\" tabindex=\"3\"><figure class=\"coblocks-gallery--figure has-margin-left-5 has-margin-left-mobile-5 has-margin-right-5 has-margin-right-mobile-5\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"747\" alt=\"\" class=\"wp-image-173842\" data-id=\"173842\" data-link=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/?attachment_id=173842\" src=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/photo_2024-05-02_13-22-20-2-1024x747.jpg\" srcset=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/photo_2024-05-02_13-22-20-2-1024x747.jpg 1024w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/photo_2024-05-02_13-22-20-2-300x219.jpg 300w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/photo_2024-05-02_13-22-20-2-768x560.jpg 768w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2024\/05\/photo_2024-05-02_13-22-20-2.jpg 1280w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure><figcaption class=\"coblocks-gallery--caption coblocks-gallery--primary-caption\"><\/figcaption><\/div><\/div><\/div><button class=\"nav-button__prev\" id=\"12345-prev\"><svg class=\"icon\" style=\"transform:rotate(180deg)\"><\/svg><\/button><button class=\"nav-button__next\" id=\"12345-next\"><svg class=\"icon\"><\/svg><\/button><\/div><div class=\"wp-block-coblocks-gallery-carousel-page-dot-pagination-container\"><div class=\"wp-block-coblocks-gallery-carousel-page-dot-wrapper\"><button aria-label=\"view image 1 of 4 in carousel\" class=\"wp-block-coblocks-gallery-carousel-page-dot-pagination\"><\/button><button aria-label=\"view image 2 of 4 in carousel\" class=\"wp-block-coblocks-gallery-carousel-page-dot-pagination\"><\/button><button aria-label=\"view image 3 of 4 in carousel\" class=\"wp-block-coblocks-gallery-carousel-page-dot-pagination\"><\/button><button aria-label=\"view image 4 of 4 in carousel\" class=\"wp-block-coblocks-gallery-carousel-page-dot-pagination\"><\/button><\/div><\/div><\/div><\/div>\n<\/details>\n\n\n\n<p><\/p>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Problem Statement: Design a custom end-effector with tactile feedback which integrates with the Baxter \/ Sawyer Research robot arm, capable of manipulating YCB Benchmark objects. Existing designs are too expensive&hellip;<\/p>\n","protected":false},"author":6242,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_coblocks_attr":"","_coblocks_dimensions":"","_coblocks_responsive_height":"","_coblocks_accordion_ie_support":"","_monsterinsights_skip_tracking":false,"_monsterinsights_sitenote_active":false,"_monsterinsights_sitenote_note":"","_monsterinsights_sitenote_category":0,"footnotes":""},"categories":[4442,126],"tags":[],"coauthors":[8612],"class_list":["post-155542","post","type-post","status-publish","format-standard","hentry","category-archive","category-me-archive"],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.7 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Tactile End-Effector for Baxter\/Sawyer Robot - Senior Design Day<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/tactile-end-effector-for-baxter-sawyer-robot\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Tactile End-Effector for Baxter\/Sawyer Robot - Senior Design Day\" \/>\n<meta property=\"og:description\" content=\"Problem Statement: Design a custom end-effector with tactile feedback which integrates with the Baxter \/ Sawyer Research robot arm, capable of manipulating YCB Benchmark objects. 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