Applications of a vacuum-actuated multi-material hybrid soft gripper: lessons learnt from RoboSoft manipulation challenge.

Autor:	Dontu S; Digital Manufacturing and Design Centre, Singapore University of Technology and Design, Singapore, Singapore.; Singapore-HUJ Alliance for Research and Enterprise (SHARE), The Smart Grippers for Soft Robotics (SGSR) Programme, Campus for Research Excellence and Technological Enterprise (CREATE), Singapore, Singapore., Kanhere E; Digital Manufacturing and Design Centre, Singapore University of Technology and Design, Singapore, Singapore., Stalin T; Engineering Product Development Pillar, Singapore University of Technology and Design, Singapore, Singapore., Dharmawan AG; Robotics Innovation Laboratory, Singapore University of Technology and Design, Singapore, Singapore., Hegde C; Singapore-HUJ Alliance for Research and Enterprise (SHARE), The Smart Grippers for Soft Robotics (SGSR) Programme, Campus for Research Excellence and Technological Enterprise (CREATE), Singapore, Singapore., Su J; Singapore-HUJ Alliance for Research and Enterprise (SHARE), The Smart Grippers for Soft Robotics (SGSR) Programme, Campus for Research Excellence and Technological Enterprise (CREATE), Singapore, Singapore., Chen X; Singapore-HUJ Alliance for Research and Enterprise (SHARE), The Smart Grippers for Soft Robotics (SGSR) Programme, Campus for Research Excellence and Technological Enterprise (CREATE), Singapore, Singapore., Magdassi S; Singapore-HUJ Alliance for Research and Enterprise (SHARE), The Smart Grippers for Soft Robotics (SGSR) Programme, Campus for Research Excellence and Technological Enterprise (CREATE), Singapore, Singapore., Soh GS; Engineering Product Development Pillar, Singapore University of Technology and Design, Singapore, Singapore.; Robotics Innovation Laboratory, Singapore University of Technology and Design, Singapore, Singapore., Valdivia Y Alvarado P; Digital Manufacturing and Design Centre, Singapore University of Technology and Design, Singapore, Singapore.; Singapore-HUJ Alliance for Research and Enterprise (SHARE), The Smart Grippers for Soft Robotics (SGSR) Programme, Campus for Research Excellence and Technological Enterprise (CREATE), Singapore, Singapore.; Engineering Product Development Pillar, Singapore University of Technology and Design, Singapore, Singapore.
Jazyk:	angličtina
Zdroj:	Frontiers in robotics and AI [Front Robot AI] 2024 May 28; Vol. 11, pp. 1356692. Date of Electronic Publication: 2024 May 28 (Print Publication: 2024).
DOI:	10.3389/frobt.2024.1356692
Abstrakt:	Soft grippers are garnering increasing attention for their adeptness in conforming to diverse objects, particularly delicate items, without warranting precise force control. This attribute proves especially beneficial in unstructured environments and dynamic tasks such as food handling. Human hands, owing to their elevated dexterity and precise motor control, exhibit the ability to delicately manipulate complex food items, such as small or fragile objects, by dynamically adjusting their grasping configurations. Furthermore, with their rich sensory receptors and hand-eye coordination that provide valuable information involving the texture and form factor, real-time adjustments to avoid damage or spill during food handling appear seamless. Despite numerous endeavors to replicate these capabilities through robotic solutions involving soft grippers, matching human performance remains a formidable engineering challenge. Robotic competitions serve as an invaluable platform for pushing the boundaries of manipulation capabilities, simultaneously offering insights into the adoption of these solutions across diverse domains, including food handling. Serving as a proxy for the future transition of robotic solutions from the laboratory to the market, these competitions simulate real-world challenges. Since 2021, our research group has actively participated in RoboSoft competitions, securing victories in the Manipulation track in 2022 and 2023. Our success was propelled by the utilization of a modified iteration of our Retractable Nails Soft Gripper (RNSG), tailored to meet the specific requirements of each task. The integration of sensors and collaborative manipulators further enhanced the gripper's performance, facilitating the seamless execution of complex grasping tasks associated with food handling. This article encapsulates the experiential insights gained during the application of our highly versatile soft gripper in these competition environments. Competing Interests: The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest. The author(s) declared that they were an editorial board member of Frontiers, at the time of submission. This had no impact on the peer review process and the final decision. (Copyright © 2024 Dontu, Kanhere, Stalin, Dharmawan, Hegde, Su, Chen, Magdassi, Soh and Valdivia Y. Alvarado.)
Databáze:	MEDLINE
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