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A soft robot tactile fingertip for grasping surface posture detection

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ORCID
Medium: journal article
Language(s): English
Published in: Smart Materials and Structures, , n. 6, v. 33
Page(s): 065014
DOI: 10.1088/1361-665x/ad469f
Abstract:

The application field of robots is gradually extending from traditional industrial manufacturing to commercial services, medical care and other fields. Stable grasping is a necessary prerequisite for various complex robot application scenarios. The existing research on robot tactile sensor mainly focus on sensing tactile information, such as pressure or sliding. However, grasping surface posture as a tactile information that has a significant impact on the stability of grasping is often ignored. This study proposed a novel soft robot tactile fingertip that can not only detect the grasping force but also simultaneously detect the grasping surface posture. It is capable of recognizing 19 grasping surface postures in real-time using Mamdani fuzzy control method. The soft robot tactile fingertip has a simple structure and easy to fabricate at low cost. The application example of the two-finger mechanical hand using the soft tactile fingertip samples for stable grasping was demonstrated. This study shows that the soft robot tactile fingertip has great application prospects in the field of robot intelligent grasping.

Structurae cannot make the full text of this publication available at this time. The full text can be accessed through the publisher via the DOI: 10.1088/1361-665x/ad469f.
  • About this
    data sheet
  • Reference-ID
    10783887
  • Published on:
    20/06/2024
  • Last updated on:
    20/06/2024
 
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