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

SoftEnable项目基于启用软夹具的操作基元的概念，为涉及可变形的精细对象的操作操作提出了一个新的框架。虽然机器人夹具或专门设计的工件夹具经常应用于涉及金属部件等刚性物体的工业机器人应用中，但有必要将这些机器人方法推广到需要对软或易碎物品进行稳健操作的材料和场合。该项目考虑了两个主要的用例应用：通过涉及个人防护设备的程序帮助医疗保健应用中的工人，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.