Paper Info
Title
Fluid Pressure Monitoring-Based Strategy for Delicate Grasping of Fragile Objects by A Robotic Hand with Fluid Fingertips.
Abstract
In this study, we propose a strategy for delicately grasping fragile objects using a robotic gripper with highly deformable fluid fingertips. In an earlier study, we developed a soft fingertip, referred to as a fluid fingertip, which was fabricated from a deformable rubber bag filled with incompressible fluid. The proposed strategy detects the preferable grasping point where fracturing of the target object is avoided while the applied force or pressure from the fluid fingertip is substantially transmitted to the target. In this grasping point, the behavior of the fluid pressure changes with respect to the pushing distance when pushing at a constant speed. The other features of the strategy determining the grasping point are as follows: (1) the threshold for the detection of the grasping point is fixed or constant with respect to the type of target object; (2) information regarding the deformation and stiffness of the fingertips and target object is not required. The detection of the grasping point through behavioral changes in the pressure is performed by comparing the fitting accuracies of fitting models utilizing information of the fluid pressure and pushing distance. The validity of the proposed approach is verified through several experiments.
Year
DOI
Venue
2019
10.3390/s19040782
SENSORS
Keywords
Field
DocType
soft robots,robotic hands,delicate grasping,fluid pressure monitoring
Compressibility,Robotic hand,Stiffness,Mechanical engineering,Fluid pressure,Electronic engineering,Engineering,Deformation (mechanics)
Journal
Volume
Issue
ISSN
19
4.0
1424-8220
Citations 
PageRank 
References 
2
0.44
0
Authors
4
Name
Order
Citations
PageRank
Toshihiro Nishimura1103.34
Yosuke Suzuki2339.31
Tokuo Tsuji313223.29
Tetsuyou Watanabe410320.21