A Highly Adaptive Robotic Gripper Palm with Tactile Sensing*
A Highly Adaptive Robotic Gripper Palm with Tactile Sensing*
复制标题
具有触觉传感功能的高度自适应机器人抓手手掌*
DOI：
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发表时间：
2022
期刊：
影响因子：
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通讯作者：
Yonghua Chen
中科院分区：
文献类型：
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作者：
Yunquan Li;Tao Ren;Yingtian Li;Yang Yang;Jianshu Zhou;Yonghua Chen
本文提出了一种新的概念和分析的自适应夹持手掌与触觉传感器。所提出的夹持器手掌是基于一个充满颗粒的弹性球形包装。柔性织物压力传感器粘贴在包装的表面上。无需复杂的机电一体化设计，自适应抓爪手掌可以基于其固有的顺应性来适应各种各样的物体，这对于大多数灵巧手掌设计来说是一个挑战。实验结果表明，当一个夹具与建议的手掌用于抓持，接触力可以有效地估计。因此，所提出的自适应手掌可用于需要闭环控制的软夹持器。
This paper presents a novel concept and analysis of an adaptive gripper palm with a tactile sensor. The proposed gripper palm is based on an elastic spherical pack that is filled with particles. A flexible fabric pressure sensor is pasted on the surface of the pack. Without complex mechatronics design, the adaptive gripper palm can adapt to a large variety of objects based on its intrinsic compliance, which has been a challenge for most dexterous hand palm designs. Experimental results have shown that when a gripper with the proposed palm is used for grasping, contact force can be effectively estimated. Therefore, the proposed adaptive palm can be used for soft grippers that need closed-loop control.