Towards a Soft Fingertip with Integrated Sensing and Actuation
| Autor: | Benjamin W. McInroe, Carolyn L. Chen, Ken Y. Goldberg, Ruzena Bajcsy, Ronald S. Fearing |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Computer science Soft robotics Stiffness 02 engineering and technology Slip (materials science) 021001 nanoscience & nanotechnology Nonlinear system 020901 industrial engineering & automation medicine Robot medicine.symptom 0210 nano-technology Tactile sensor Simulation |
| Zdroj: | IROS |
| Popis: | Soft material robots are attractive for safe interaction with humans and unstructured environments due to their compliance and low intrinsic stiffness and mass. These properties enable new capabilities such as the ability to conform to environmental geometry for tactile sensing and to undergo large shape changes for actuation. Due to the complex coupling between sensing and actuation in high-dimensional nonlinear soft systems, prior work in soft robotics has primarily focused on either sensing or actuation. This paper presents SOFTcell, a novel controllable stiffness tactile device that incorporates both optical sensing and pneumatic actuation. We report details on the device's design and implementation and analyze results from characterization experiments on sensitivity and performance, which show that SOFTcell can controllably increase its effective modulus from 4.4kPa to 46.1kPa. Additionally, we demonstrate the utility of SOFTcell for grasping in a reactive control task in which tactile data is used to detect fingertip shear as a grasped object slips, and cell pressurization is used to prevent the slip without the need to adjust fingertip position. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|