A soft robot tactile fingertip for grasping surface posture detection

A soft robot tactile fingertip for grasping surface posture detection

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 fo...

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Veröffentlicht in:Smart materials and structures 2024-06, Vol.33 (6), p.65014
Hauptverfasser: Wang, Haojie, Zhou, Chao, Li, Hangze, Chen, Jinmiao, Yu, Ping, Chen, Changan, Zhang, Youzhi
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Sprache:eng
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fuzzy control
grasping surface posture
robot
soft
tactile fingertip
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container_end_page
container_issue 6
container_start_page 65014
container_title Smart materials and structures
container_volume 33
creator Wang, Haojie
Zhou, Chao
Li, Hangze
Chen, Jinmiao
Yu, Ping
Chen, Changan
Zhang, Youzhi
description 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.
doi_str_mv 10.1088/1361-665X/ad469f
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subjects fuzzy control
grasping surface posture
robot
soft
tactile fingertip
title A soft robot tactile fingertip for grasping surface posture detection
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