The Tactile SoftHand: An Anthropomorphic Robot Hand with a Biomimetic Sense of Touch

这个项目是我第一年项目的延续，在第一年的项目中，IIT/Pisa SoftHand的基本闭环抓握控制仅使用来自指尖大小的BRL tap在最小数字上的反馈来实现。该项目的主要目标是为SoftHand（在不同的手指上使用多个触觉传感器）创建一个强大的基于触觉的控制器，该控制器可以准确地执行相对复杂的空间和手持灵巧操作任务，尽管手的驱动不足和手指关节的非刚性性质。这将主要通过多个触觉传感器在手的几个手指上的反馈以及其他传感器的二次测量来实现，触觉手安装在UR5工业机械臂上。活动将包括：开发控制器的软件，将进一步的传感器植入手部，并应用适当的方法来处理它们的输出，使用UR5进行路径规划和规划抓取实验，研究更高程度的驱动。里程碑将包括：与UR5的成功集成，使用多个战术的框架的实现和灵巧操作任务的执行，可能具有更高的驱动程度。如果成功，这个项目将弥合完全驱动的拟人化手的硬件复杂性和欠驱动手有限的操作能力之间的差距。

This project is a continuation of my first year project in which rudimentary closed loop grasp control of the IIT/Pisa SoftHand was implemented using only feedback from a fingertip sized version of the BRL TacTip on the smallest digit.The main objectives of this project will be to create a robust tactile based controller for the SoftHand (using multiple TacTip sensors on different digits) that can accurately perform relatively complex in-space and in-hand dexterous manipulation tasks despite the hand's under-actuation and the non-rigid nature of the digit joints. This will be achieved primarily from feedback of multiple TacTip sensors on several digits of the hand as well as secondary measurements from other sensors, with the tactile hand mounted on a UR5 industrial robotic arm.Activities will include: developing the software of the controller, implementing further sensors into the hand and applying appropriate methods for processing their outputs together, path planning with the UR5 and planning grasp experiments, investigating higher degrees of actuation.Milestones will include: successful integration with the UR5, implementation of framework for using multiple TacTips and execution of dexterous manipulation tasks, potentially with higher degrees of actuation.If successful, this project will bridge the gap between the hardware complexity of fully-actuated anthropomorphic hands and limited manipulation capabilities of under-actuated hands.