Dexterous Manipulation by Two Fingers with Coupled Joints

2018 ◽  
Author(s):  
Yan-Bin Jia ◽  
Yuechuan Xue
Keyword(s):  
Dexterous Manipulation

scholarly journals Design and Calibration of a Force/Tactile Sensor for Dexterous Manipulation

Sensors ◽  
2019 ◽  
Vol 19 (4) ◽  
pp. 966 ◽  
Author(s):  
Marco Costanzo ◽  
Giuseppe De Maria ◽  
Ciro Natale ◽  
Salvatore Pirozzi
Keyword(s):  
Experimental Validation ◽  
Sensory System ◽  
Tactile Sensor ◽  
Contact Forces ◽  
Dexterous Manipulation ◽  
Soft Contact ◽  
Grasping Force ◽  
Sense Of Touch ◽  
Human Sense ◽  
Robotic Applications

This paper presents the design and calibration of a new force/tactile sensor for robotic applications. The sensor is suitably designed to provide the robotic grasping device with a sensory system mimicking the human sense of touch, namely, a device sensitive to contact forces, object slip and object geometry. This type of perception information is of paramount importance not only in dexterous manipulation but even in simple grasping tasks, especially when objects are fragile, such that only a minimum amount of grasping force can be applied to hold the object without damaging it. Moreover, sensing only forces and not moments can be very limiting to securely grasp an object when it is grasped far from its center of gravity. Therefore, the perception of torsional moments is a key requirement of the designed sensor. Furthermore, the sensor is also the mechanical interface between the gripper and the manipulated object, therefore its design should consider also the requirements for a correct holding of the object. The most relevant of such requirements is the necessity to hold a torsional moment, therefore a soft distributed contact is necessary. The presence of a soft contact poses a number of challenges in the calibration of the sensor, and that is another contribution of this work. Experimental validation is provided in real grasping tasks with two sensors mounted on an industrial gripper.

scholarly journals Cognitive Interaction Analysis in Human–Robot Collaboration Using an Assembly Task

Electronics ◽  
2021 ◽  
Vol 10 (11) ◽  
pp. 1317
Author(s):  
Alejandro Chacón ◽  
Pere Ponsa ◽  
Cecilio Angulo
Keyword(s):  
Interaction Analysis ◽  
Mental Workload ◽  
Cognitive Task ◽  
Physical Work ◽  
Work Skills ◽  
Dexterous Manipulation ◽  
Assembly Task ◽  
Cognitive Interaction ◽  
Human Operators ◽  
Assembly Tasks

In human–robot collaborative assembly tasks, it is necessary to properly balance skills to maximize productivity. Human operators can contribute with their abilities in dexterous manipulation, reasoning and problem solving, but a bounded workload (cognitive, physical, and timing) should be assigned for the task. Collaborative robots can provide accurate, quick and precise physical work skills, but they have constrained cognitive interaction capacity and low dexterous ability. In this work, an experimental setup is introduced in the form of a laboratory case study in which the task performance of the human–robot team and the mental workload of the humans are analyzed for an assembly task. We demonstrate that an operator working on a main high-demanding cognitive task can also comply with a secondary task (assembly) mainly developed for a robot asking for some cognitive and dexterous human capacities producing a very low impact on the primary task. In this form, skills are well balanced, and the operator is satisfied with the working conditions.

Soft magnetic skin for super-resolution tactile sensing with force self-decoupling

2021 ◽  
Vol 6 (51) ◽  
pp. eabc8801
Author(s):  
Youcan Yan ◽  
Zhe Hu ◽  
Zhengbao Yang ◽  
Wenzhen Yuan ◽  
Chaoyang Song ◽  
...  
Keyword(s):  
External Disturbance ◽  
Super Resolution ◽  
Tactile Sensor ◽  
Human Robot Interaction ◽  
Tactile Sensors ◽  
Dexterous Manipulation ◽  
Robot Interaction ◽  
Flexible Film ◽  
Challenging Tasks ◽  
External Forces

Human skin can sense subtle changes of both normal and shear forces (i.e., self-decoupled) and perceive stimuli with finer resolution than the average spacing between mechanoreceptors (i.e., super-resolved). By contrast, existing tactile sensors for robotic applications are inferior, lacking accurate force decoupling and proper spatial resolution at the same time. Here, we present a soft tactile sensor with self-decoupling and super-resolution abilities by designing a sinusoidally magnetized flexible film (with the thickness ~0.5 millimeters), whose deformation can be detected by a Hall sensor according to the change of magnetic flux densities under external forces. The sensor can accurately measure the normal force and the shear force (demonstrated in one dimension) with a single unit and achieve a 60-fold super-resolved accuracy enhanced by deep learning. By mounting our sensor at the fingertip of a robotic gripper, we show that robots can accomplish challenging tasks such as stably grasping fragile objects under external disturbance and threading a needle via teleoperation. This research provides new insight into tactile sensor design and could be beneficial to various applications in robotics field, such as adaptive grasping, dexterous manipulation, and human-robot interaction.

scholarly journals The Role of Learning and Kinematic Features in Dexterous Manipulation: A Comparative Study with Two Robotic Hands

10.5772/56479 ◽  
2013 ◽  
Vol 10 (10) ◽  
pp. 340 ◽  
Author(s):  
Anna Lisa Ciancio ◽  
Loredana Zollo ◽  
Gianluca Baldassarre ◽  
Daniele Caligiore ◽  
Eugenio Guglielmelli
Keyword(s):  
Comparative Study ◽  
Robotic Hands ◽  
Dexterous Manipulation

Control of man-machine system for dexterous manipulation

1993 ◽  
Author(s):  
Kazuhiro Kosuge ◽  
Yoshio Fujisawa ◽  
Toshio Fukuda
Keyword(s):  
Dexterous Manipulation ◽  
Machine System

scholarly journals Path Planning for 3-D In-Hand Manipulation of Micro-Objects Using Rotation Decomposition

Micromachines ◽  
2021 ◽  
Vol 12 (8) ◽  
pp. 986
Author(s):  
Pardeep Kumar ◽  
Michaël Gauthier ◽  
Redwan Dahmouche
Keyword(s):  
Main Idea ◽  
Robotic Manipulation ◽  
Moderate Increase ◽  
Adhesion Forces ◽  
Dexterous Manipulation ◽  
Confined Spaces ◽  
Direct Extension ◽  
Exponential Increase ◽  
Simulation Results ◽  
Arbitrary Objects

Robotic manipulation and assembly of micro and nanocomponents in confined spaces is still a challenge. Indeed, the current proposed solutions that are highly inspired by classical industrial robotics are not currently able to combine precision, compactness, dexterity, and high blocking forces. In a previous work, we proposed 2-D in-hand robotic dexterous manipulation methods of arbitrary shaped objects that considered adhesion forces that exist at the micro and nanoscales. Direct extension of the proposed method to 3-D would involve an exponential increase in complexity. In this paper, we propose an approach that allows to plan for 3-D dexterous in-hand manipulation with a moderate increase in complexity. The main idea is to decompose any 3-D motion into a 3-D translation and three rotations about specific axes related to the object. The obtained simulation results show that 3-D in-hand dexterous micro-manipulation of arbitrary objects in presence of adhesion forces can be planned in just few seconds.

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