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The development of active tactile sensors in the form of wrinkles and it's application to soft robotics

皱纹形式的主动触觉传感器的开发及其在软机器人中的应用

基本信息

批准号：
20J15087
负责人：
QI QIUKAI
金额：
$ 1.09万
依托单位：
Tokyo Institute of Technology (2021)Japan Advanced Institute of Science and Technology (2020)
依托单位国家：
日本
项目类别：
Grant-in-Aid for JSPS Fellows
财政年份：
2020
资助国家：
日本
起止时间：
2020-04-24 至 2022-03-31
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-20J15087/
关键词：
Adaptive Morphology Soft Gripper Soft Sensor Wrinkled Sensor Wrinkled Actuator

项目摘要

In the first half of this fiscal year, we had put more effort on our new prototypes, RetracTip and AdapTip, which were based on our earlier work on WrinTac. RetracTip is multifunctional gripper augmented with sensing capability. The multi-modal gripping function was achieved by the integration of a bistable membrane, an adaptive morphology that was inspired by the idea of variable morphology of WrinTac. We have characterized the performance of RetracTip in terms of gripping, sensing, and autonomous pick and place functionality, and finally published it in "Soft Robotics", a top journal in the area of robotics. AdapTip is an optical tactile sensor with adaptive morphology. We have done the design and modeling of this prototype, and hopefully we could publish this work in the near future.

在本财政年度的上半年，我们在新原型RetracTip和AdapTip上投入了更多的精力，这些原型是基于我们早期在WrinTac上的工作。RetracTip是一种多功能夹持器，具有传感能力。多模态抓取功能是通过集成一个自适应膜来实现的，这是一种受WrinTac可变形态思想启发的自适应形态。我们在抓取、传感和自主拾取和放置功能方面对RetracTip的性能进行了表征，并最终将其发表在机器人领域的顶级期刊《Soft Robotics》上。AdapTip是一种具有自适应形态学的光学触觉传感器。我们已经完成了这个原型的设计和建模，希望我们可以在不久的将来发表这项工作。