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

SoftEnable项目提出了一个涉及可变形精细对象的操作操作的新框架，该框架基于支持软夹具的操作原语的概念。虽然通过机器人抓取装置或专门设计的工件夹具通常应用于涉及刚性物体（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作的材料和情况。该项目考虑了两个主要用例应用：在涉及个人防护设备的医疗保健应用程序中帮助工人，并通过食品加工行业的协作机器人技术提供帮助。

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.