SOFTCARE/SOFTENABLE: Towards Soft Fixture-Based Manipulation Primitives Enabling Safe Robotic Manipulation in Hazardous Healthcare and Food Handling Applications

SoftEnable项目提出了一个新的操作框架，涉及可变形的微妙对象的基础上的概念，软夹具启用操作原语。虽然通过机器人抓取或专门设计的工件固定装置的固定装置通常应用于涉及刚性物体（例如金属部件）的工业机器人应用中，但需要将这些机器人方法推广到需要对柔软或易碎物品进行稳健操纵的材料和情况。该项目考虑了两个主要的用例应用：帮助医疗保健应用中的工作人员使用涉及个人防护设备的程序，以及通过食品加工行业的协作机器人提供帮助。

The SoftEnable project proposes a new framework for manipulation actions involving deformable delicate objects based on the notion of soft fixture-enabled manipulation primitives. While fixtures by means of robotic grasps or specifically designed workpiece fixtures are routinely applied in industrial robotics applications involving rigid objects such as metal parts, there is a need to generalise these robotic methods to materials and situations that require the robust manipulation of soft or fragile items. The project considers two primary use case applications: to aid workers in healthcare applications with procedures involving personal protective equipment and to provide assistance by means of collaborative robotics in the food processing industry.