RIGI 2025 projects

Dear RIGI Applicants,

This document presents nine projects for Robotics Institute Germany Internships (RIGI) 2025.
Please go through them carefully and select a minimum of one and a maximum of three projects
on the application portal. To do this, you will need to enter the project codes. These codes are
highlighted for each project. Ensure you use the correct codes when filling out the application
form. List the projects you are applying for in order of preference, starting with your most
preferred project. You will also need to write a short motivation (80 words) for each project you
are applying to. While we appreciate conciseness and clear communication, we encourage you to
create these texts yourself, rather than using automated tools like chatGPT, to so that they
accurately represent your personal interests and motivations.

RIGI Coordination Team

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RIGI 2025 projects

Main Supervisor(s) Florian Hartmann

Day-to-day Mentor(s) Giulio Grasso, Yuan Fang
Project Title Achieving complex motions through origami-based electrostatic actuators
Project Code BMM1
Research Area(s) soft robotics
Project Description Our research group focuses on the synthesis of mechanical design and
sustainable material development with the aim of creating new bioinspired
robotic systems. We are pursuing this through the study of new fabrication
processes for soft materials, the formulation of biodegradable alternatives to
plastics, and the design of untethered systems including actuation, sensing,
energy storage and control. One of our research directions includes the
application of origami-inspired folding patterns into the development of thin-
film electrostatic actuators capable of complex, multidimensional motions.

If you want to merge a creative approach to rigorous analytical thinking, this

is the project for you! You will have the chance to explore known origami
patterns and to recognize their respective deformation modes, and to design
3D-printable molds and electrode patterns for the fabrication of zipping
electrostatic actuators based on these surfaces. You will explore innovative
fabrication methods for thin-film functionalized structures, gain experience in
modeling strategies for unconventional geometries, and learn to leverage
origami deformability for robotic applications.

Required Technical • Experience with CAD modelling software (Autodesk Fusion &
Skills AutoCAD, Solidworks, etc…).
• Mastery of Calculus notions (i.e., methods for parametric surface
representation).
• Good knowledge of coding languages (python, Wolfram
Mathematica, MATLAB).

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RIGI 2025 projects

Main Supervisor(s) Christoph Keplinger

Day-to-day Mentor(s) Ugur Bozuyuk, Erdost Yildiz, Alp Can Karacakol
Project Title CELLnROLL - A robotic diagnostic platform
Project Code CELL1
Research Area(s) mechanical engineering, electrical engineering, robotics
Project Description In our project, we focus on developing advanced microrobotic systems that
automate complex cellular analyses, particularly for immunophenotyping in
hematological diseases. By combining robotics and microtechnology we aim
to create cost-effective, high-throughput diagnostic solutions that reduce
reliance on expensive optical components and specialized operators.

As an intern, you will actively contribute to prototype design and

development, refining mechanical and electronic components for improved
performance of the robotic system. You’ll set up and run experiments to
validate each design iteration, collecting and analyzing the resulting data. This
internship offers a unique opportunity to gain hands-on engineering
experience while applying advanced biomedical concepts.

Required Technical • CAD Design (e.g., SolidWorks): Ability to create and modify
Skills mechanical designs for prototype components.
• Basic Electronics & Prototyping: Understanding of electronic
components, circuit assembly, and hands-on prototyping.
• Ability to collect, interpret, and document experimental data (e.g.,
using Excel, Python, or MATLAB).

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RIGI 2025 projects

Main Supervisor(s) Katherine J. Kuchenbecker

Day-to-day Mentor(s) Andrew K. Schulz, Natalia Sanchez-Tamayo
Project Title Actuation of bio-inspired whisker sensors
Project Code HAPTIC1
Research Area(s) electrical Engineering, mechanical engineering, robotics, soft robotics
Project Description In the Haptic Intelligence Department, we are presently investigating new
ways to help robots navigate and interact with their environment. We are
inspired by how humans and animals use their sense of touch to navigate and
interact with the world. Mammals have evolved sensory hairs (also known as
whiskers) that emerge from their skin, allowing extension of their sense of
touch into the space around their body. In our lab, we are inspired by the
whisker structures of animals such as cats and rats. Many animals have the
ability to move their whiskers relative to their body. We are curious about
whether actuation could also benefit bio-inspired whisker sensors. By taking
inspiration from biological sensing, we believe we can create new engineering
devices for applications in mobile robotics.

As an intern, you will be working on designing, testing, and adapting different

actuation methods for bio-inspired whiskers. You will also test different haptic
sensors (e.g., accelerometers, force-torque sensors) to experimentally
investigate the benefits and drawbacks of actuation on different bio-inspired
whisker sensors. Through this project, you will learn about the mechanics of
the materials involved in whisker-based touch sensing and how actuation
influences bio-inspired sensors. During the internship, you may also work on
robotic demonstrations of the whisker-sensor-actuator structure through
mobile robots or robotic grippers.

Required Technical • Experience with 3D printing and CAD

Skills • Experience with actuators (e.g., servo motors, stepper motors)
• Experience with microcontrollers (e.g., Arduino, ESP boards)
• Basic programming skills in Python, C, or C++
• Basic data visualization skills in MATLAB and/or Python
• Interest in bio-inspired robotics and sensors

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RIGI 2025 projects

Main Supervisor(s) Katherine J. Kuchenbecker

Day-to-day Mentor(s) Yijie Gong
Project Title Evaluating Naturalistic Haptic Feedback on a Teleoperated Humanoid Robot
Project Code HAPTIC2
Research Area(s) robotics, haptics, computer science, data analysis
Project Description In the Haptic Intelligence Department, we often work to understand haptic
(touch) feedback and discover new opportunities for its use in interactions
between humans, computers, and machines. In our research on advancing
teleoperation interfaces, we leverage scientific knowledge about the sense of
touch to create haptic interfaces (mechatronic devices that combine sensors,
actuators, and computation) that enable a user to interact with distant
environments as though they were within reach. Teleoperated robots can be
used for minimally invasive surgery (e.g., Intuitive da Vinci robot) and handling
hazardous materials.

As an intern, you will work on integrating AiroTouch, our naturalistic

vibrotactile feedback system, onto a humanoid robot such as NAO or Baxter.
Together with your mentor, you will design, run, and analyze a user study to
explore the effects of this type of haptic feedback on the experience of a
human who is teleoperating the robot to perform various tasks. This work will
primarily involve planning and then conducting the user study, as well as
starting to analyze the data you collect.

Required Technical • Basic knowledge about sensors and actuators

Skills • Interest in technologies for human users
• Data analysis and visualization skills in MATLAB or Python

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RIGI 2025 projects

Main Supervisor(s) Katherine J. Kuchenbecker

Day-to-day Mentor(s) Vani Sundaram
Project Title Evaluating Wearable Sensors for Personalized Gait Retraining Outside the Lab
Project Code HAPTIC3
Research Area(s) electrical engineering, human-computer interaction, data analysis, machine
learning
Project Description The Haptic Intelligence Department explores a wide range of topics, including
human-robot interaction, the design of wearable haptic devices, and the
development of teleoperation interfaces. These innovative projects arise from
an interdisciplinary fascination with how humans move, perceive, and interact
through touch. Our research seeks to bridge engineering, robotics,
neuroscience, and materials science to redefine the possibilities and
applications of digital technology.

As an intern, you will be working on evaluating and analyzing wearable sensing

systems to measure human joint angles, targeted toward enhancing a
promising rehabilitation technique for patients with knee osteoarthritis. You
will gain familiarity with sensing systems that leverage inertial measurement
units and cameras, learn to process the data from such sensors and interpret
their outputs in the context of human movement, and integrate haptic
feedback mechanisms for closed-loop guidance during the gait cycle.

Required Technical • Proficiency in Python for data analysis and visualization

Skills • Basic knowledge of sensor technology (e.g., cameras,
accelerometers, gyroscopes, magnetometers)
• Basic understanding of signal processing
• Analytical and problem-solving skills

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RIGI 2025 projects

Main Supervisor(s) Katherine J. Kuchenbecker

Day-to-day Mentor(s) Natalia Sanchez Tamayo
Project Title Haptic feedback for wearable devices
Project Code HAPTIC4
Research Area(s) mechanical engineering, haptics, data analysis, human-computer interaction
Project Description Our lab leverages scientific knowledge about the sense of touch to create
haptic interfaces that enable a user to interact with virtual objects and distant
environments as though they were real. We aim to elevate our understanding
of touch cues while discovering new opportunities for their use in interactions
between humans, computers, and machines.

As an intern, you will be working on designing, testing, and adapting actuation

methods for wearable haptic feedback devices like our recently published
CUTE device. You will also be interfacing actuators and sensing modalities
(e.g., force sensors, motors, etc.) to experimentally investigate human
perception of diverse tactile cues. Through this project you will learn about
haptic feedback to contribute to the understanding of tactile perception in
wearable devices.

Required Technical • Programming in MATLAB or Python

Skills • Experience and/or interest in mechatronic hardware (e.g., Arduino,
sensors and actuators)
• Experience in data analysis and visualization
• Interest in haptics and perceptual studies

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RIGI 2025 projects

Main Supervisor(s) Christoph Keplinger

Day-to-day Mentor(s) Sophie Kirkman, Lawrence Smith
Project Title Building an energy harvesting demo using HASEL electrostatic generators
Project Code RM1
Research Area(s) mechanical design, electrical engineering
Project Description In our lab we develop soft artificial muscles, sensors, and generators using
HASEL (Hydraulically-Amplified, Soft, ELectrostatic) transducers. We are an
experimental lab and spend a lot of time designing, building, and testing (and
breaking!) actuators, generators, and robotic systems.

HASEL generators are a promising alternative renewable energy technology.

As an intern, you will help us design and build the one of the first energy
harvesting demonstrations using HASEL generators. We aim to harvest energy
from either ocean waves or human motion, but we are open to all creative
ideas for a compelling energy harvesting demonstrator.
This project will comprise both a mechanical and an electrical component –
you could focus on either aspect or both, depending on your background.

• On the mechanical side, you will design and build the mechanical
connections between the generators and their casing and the
interface with the energy source.
• For the electronics, you will help us design a circuit for charging the
generators and storing the harvested energy.
You will work with researchers in our lab to brainstorm possible demonstrator
ideas and follow design ideation processes to select suitable candidates for
design and fabrication. You will have the opportunity to learn how to fabricate
HASEL generators by screen printing and sealing, work with high voltage
amplifiers, run experiments and analyze data using MATLAB and NI-DAQ. You
will be able to collaborate with different workshops, and therefore have access
to a wide range of fabrication devices such as 3D printers, laser cutters, a pick-
and-place machine, hand tools, and PCB mills etc.
Required Technical • Basic knowledge of MATLAB
Skills • Experience with basic design processes including brainstorming,
design communication, prototyping, and test development
• If you want to work on the mechanical design:
o Computer Aided Design (CAD) experience (Solidworks,
Inventor, or similar)
o Familiarity with design for rapid prototyping processes
including additive manufacturing and laser cutting
• If you want to work on the circuit design
o Knowledge of electronic circuit design and analysis
o Experience with soldering and cable fabrication

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RIGI 2025 projects

Main Supervisor(s) Buse Aktas

Day-to-day Mentor(s) Buse Aktas
Project Title Robotic Structures Inspired by Traditional Crafts
Project Code ROCOCO1
Research Area(s) mechanical engineering, soft robotics, haptics
Project Description In our lab we focus on the design, fabrication, modeling, and testing of active
composite metamaterials, which can operate as adaptive and dynamic
structural components for robotics applications, such as minimally-invasive
surgical procedures, human-material interaction, and sustainable circular
manufacturing. We develop dynamic composite material systems with actively
tunable properties - such as stiffness, elasticity, and shape memory – to enable
safe, adaptive, and versatile robot-environment and robot-human
interactions. Programmable mechanical tunability is key for robots to perform
complex tasks in unstructured, dynamic, and sensitive environments such as
our homes or our bodies.

As an intern, you will be design, fabricate, and test different robotic structures
loosely inspired by fiber-based traditional crafts methods such as broom-
making and basket-weaving. You will develop dynamic and robotically
actuated versions of these traditionally static structures. At the end of your
internship, we will make an interactive art installation with your structures
where visitors can engage with your work. During this internship you will learn
about robot component design, mechanical testing and analysis, and gain
practice with different prototyping techniques.

Required Technical • Basic understanding of physics or mechanics, demonstrated through

Skills coursework (e.g., bachelor’s level physics/mechanics, AP Physics) or
hands-on experiences (e.g., DIY projects, robotics clubs).
• Familiarity with CAD design (introductory level; any experience with
software such as SolidWorks, Fusion 360, or Tinkercad is sufficient).
• Basic experience with microcontrollers (e.g., Arduino programming)

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RIGI 2025 projects

Main Supervisor(s) Jelena Zinnanti

Day-to-day Mentor(s) Pouria Esmaeili-Dokht
Project Title Robotically assisted on demand hyperthermia for tissue ablation
Project Code ZWEMS1
Research Area(s) medical imaging, robotics
Project Description In ZWE Medical Systems we focus on developing small robots that can be used
for drug delivery or hyperthermia in combination with magnetic resonance
imaging (MRI). For example, we created a capsule robot that can be navigated
using magnetic field gradients during MRI. Once on desired location, this
capsule can be remotely heated for tissue ablation, or the heat can be utilized
for on demand drug release.

As an intern, you will be working on manufacturing different robots, control

them using magnetic field gradients and navigate them based on the imaging
feedback from the MRI scanner. As an intern, you will learn some basics of MR
imaging as part of your daily routine, with an opportunity to learn more about
computed tomography (micro-CT) and X-ray devices (based on the interest).
The intern will be able to choose if he/she would like to focus more on the
programming part of the project (Python and Matlab are needed) or on hands
on manufacturing of small devices and MRI.

Required Technical There are no required skills for this particular project, but it will be advantage
Skills to have some knowledge of Matlab and Python.

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