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Biological mechanosensitive gripper

2023

During a soft robotics course at Carnegie Mellon University my team built a system to experiment with using living cells as pressure sensors for tactile feedback. We suspended cells that release calcium when deformed in a dye that becomes fluorescent in calcium's presence. By sensing this fluorescence with a custom PCB, we could measure pressure. I was responsible for the mechanical design of a force test apparatus and the electrical design of the detection device.

Model of three mechanosensitive digits in a manipulation test apparatus

Apparatus for testing the response of the cells to a smoothly varying force

The PCB, 9mm tall, for shining an LED at the cells and measuring their fluorescence with a phototransistor

Slide discussing the optics behind measuring fluorescence from the cells

Placing the cultured cells into a molded PDMS structure for testing their response to pressure

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