Capacitive Sensing for a Gripper With Gecko-Inspired Adhesive Film
Capacitive Sensing for a Gripper With Gecko-Inspired Adhesive Film
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DOI：
10.1109/lra.2019.2893154
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发表时间：
2019-04-01
影响因子：
5.2
通讯作者：
Cutkosky, Mark R.
中科院分区：
文献类型：
--
作者：
Hashizume, Jiro;Huh, Tae Myung;Cutkosky, Mark R.
我们提出了一种适用于夹持器的电容式传感器，该传感器采用了壁虎式胶粘剂薄膜。传感器直接制作在薄膜上，测量粘合剂亲密接触的面积。在实验中，一种新的欠驱动抓取器使用胶膜来获取和握住具有各种形状和纹理的物体。使用胶膜，与使用软橡胶相比，抓手在粗糙表面上获得2.6倍的拉力。为了获得良好的抓地力，随着施加载荷的增加，薄膜更紧密地粘附在物体表面，并且接触区域的局部电容增加。每根手指有六个单元，传感器还可以检测抓取的接触模式是否符合预期。
We present a capacitive sensor suitable for a gripper that uses thin films of gecko-inspired adhesives. The sensor is fabricated directly on the films and measures the area over which the adhesive makes intimate contact. In experiments, a new under-actuated gripper uses adhesive films to acquire and hold objects having a variety of shapes and textures. Using the adhesive films, the gripper achieves 2.6 x greater pullout force on rough surfaces as compared to using soft rubber. For a good grip, as the applied load increases, the films adhere more tightly to object surfaces and the local capacitance increases at contact regions. With six taxels per finger, the sensor can also detect whether the contact pattern of a grasp matches the expectations.