Paper Info
Title
Safe Grasping with a Force Controlled Soft Robotic Hand
Abstract
Safe yet stable grasping requires a robotic hand to apply sufficient force on the object to immobilize it while keeping it from getting damaged. Soft robotic hands have been proposed for safe grasping due to their passive compliance, but even such a hand can crush objects if the applied force is too high. Thus for safe grasping, regulating the grasping force is of uttermost importance even with soft hands. In this work, we present a force controlled soft hand and use it to achieve safe grasping. To this end, resistive force and bend sensors are integrated in a soft hand, and a data-driven calibration method is proposed to estimate contact interaction forces. Given the force readings, the pneumatic pressures are regulated using a proportional-integral controller to achieve desired force. The controller is experimentally evaluated and benchmarked by grasping easily deformable objects such as plastic and paper cups without neither dropping nor deforming them. Together, the results demonstrate that our force controlled soft hand can grasp deformable objects in a safe yet stable manner.
Year
DOI
Venue
2020
10.1109/SMC42975.2020.9283496
2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC)
Keywords
DocType
ISSN
safe grasping,grasping force,resistive force,contact interaction forces,force readings,force controlled soft robotic hand,data-driven calibration method
Conference
1062-922X
ISBN
Citations 
PageRank 
978-1-7281-8527-9
0
0.34
References 
Authors
9
3
Name
Order
Citations
PageRank
Le Tran Nguyen100.34
Jens Lundell254.13
V. Kyrki365261.79