Soft Fingertips With Tactile Sensing and Active Deformation for Robust Grasping of Delicate Objects
Soft Fingertips With Tactile Sensing and Active Deformation for Robust Grasping of Delicate Objects
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DOI：
10.1109/lra.2020.2972851
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发表时间：
2020-04-01
影响因子：
5.2
通讯作者：
Nanayakkara, Thrishantha
中科院分区：
文献类型：
--
作者：
He, Liang;Lu, Qiujie;Nanayakkara, Thrishantha
由于具有弹性，柔软的指尖在抓取各种物体形状方面表现出了显著的适应性。这种能力可以通过增加触摸感应来增强，以抓取柔软、精致的物体。然而，在这些情况下，抓握的完全约束和坚固已被证明是具有挑战性的，因为对脆弱的物体施加额外的力可能会导致损坏。这封信提出了一种新颖的柔软指尖设计，基于嵌入气腔的概念，允许触觉感知和主动变形的双重能力。加压气腔充当软触觉传感器，根据内部压力变化控制抓爪位置；通过对这些气腔施加正压来实现主动指尖变形，从而使脆弱的物体能够通过关闭表单而不受外力的影响牢牢地保持在适当的位置。我们通过比较被抓取的微妙物体在高速运动下的位移来证明这种改进的抓取能力。结果表明，在加速度低至0.1m/S(2)的情况下，被动软指尖不能抑制易碎物体；相反，在加速度大于5m/S(2)的情况下，提出的指尖对易碎物体是完全安全的。
Soft fingertips have shown significant adaptability for grasping a wide range of object shapes, thanks to elasticity. This ability can be enhanced to grasp soft, delicate objects by adding touch sensing. However, in these cases, the complete restraint and robustness of the grasps have proved to be challenging, as the exertion of additional forces on the fragile object can result in damage. This letter presents a novel soft fingertip design for delicate objects based on the concept of embedded air cavities, which allow the dual ability of tactile sensing and active shape-changing. The pressurized air cavities act as soft tactile sensors to control gripper position from internal pressure variation; and active fingertip deformation is achieved by applying positive pressure to these cavities, which then enable a delicate object to be kept securely in position, despite externally applied forces, by form closure. We demonstrate this improved grasping capability by comparing the displacement of grasped delicate objects exposed to high-speed motions. Results show that passive soft fingertips fail to restrain fragile objects at accelerations as low as 0.1 m/s(2), in contrast, with the proposed fingertips delicate objects are completely secure even at accelerations of more than 5 m/s(2).