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继续，在这个项目中，IIT/Pisa SoftHand的基本闭环抓取控制是仅使用指尖大小的BRL TacTip版本对最小的手指进行反馈来实现的。该项目的主要目标是为SoftHand创建一个基于触觉的强健控制器(使用不同数字上的多个TacTip传感器)，它可以准确地执行相对复杂的空间和手部灵巧操作任务，尽管手的动作不足和手指关节的非刚性性质。这将主要通过多个TacTip传感器在手的几个手指上的反馈以及来自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，在手中安装更多的传感器并应用适当的方法一起处理它们的输出，与UR5一起规划路径规划和计划抓取实验，调查更高的致动程度。里程碑将包括：成功地与UR5整合，实施使用多个TacTip的框架，以及执行灵活的操作任务，潜在地具有更高的致动程度。如果成功，该项目将在完全驱动的拟人手的硬件复杂性和欠驱动的手有限的操作能力之间架起一座桥梁。

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.