Sensorized Soft Skin for Dexterous Robotic Hands

Autor:	Egli, Jana, Forrai, Benedek, Buchner, Thomas, Su, Jiangtao, Chen, Xiaodong, Katzschmann, Robert K.
Rok vydání:	2024
Předmět:	Computer Science - Robotics Computer Science - Hardware Architecture
Druh dokumentu:	Working Paper
Popis:	Conventional industrial robots often use two-fingered grippers or suction cups to manipulate objects or interact with the world. Because of their simplified design, they are unable to reproduce the dexterity of human hands when manipulating a wide range of objects. While the control of humanoid hands evolved greatly, hardware platforms still lack capabilities, particularly in tactile sensing and providing soft contact surfaces. In this work, we present a method that equips the skeleton of a tendon-driven humanoid hand with a soft and sensorized tactile skin. Multi-material 3D printing allows us to iteratively approach a cast skin design which preserves the robot's dexterity in terms of range of motion and speed. We demonstrate that a soft skin enables firmer grasps and piezoresistive sensor integration enhances the hand's tactile sensing capabilities. Comment: 6 pages, 9 figures ICRA 2024
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2404.19448 Zobrazit plný text záznamu View this record from Arxiv