scholarly journals Robot Grasping System and Grasp Stability Prediction Based on Flexible Tactile Sensor Array

Machines ◽  
2021 ◽  
Vol 9 (6) ◽  
pp. 119
Author(s):  
Tong Li ◽  
Xuguang Sun ◽  
Xin Shu ◽  
Chunkai Wang ◽  
Yifan Wang ◽  
...  

As an essential perceptual device, the tactile sensor can efficiently improve robot intelligence by providing contact force perception to develop algorithms based on contact force feedback. However, current tactile grasping technology lacks high-performance sensors and high-precision grasping prediction models, which limits its broad application. Herein, an intelligent robot grasping system that combines a highly sensitive tactile sensor array was constructed. A dataset that can reflect the grasping contact force of various objects was set up by multiple grasping operation feedback from a tactile sensor array. The stability state of each grasping operation was also recorded. On this basis, grasp stability prediction models with good performance in grasp state judgment were proposed. By feeding training data into different machine learning algorithms and comparing the judgment results, the best grasp prediction model for different scenes can be obtained. The model was validated to be efficient, and the judgment accuracy was over 98% in grasp stability prediction with limited training data. Further, experiments prove that the real-time contact force input based on the feedback of the tactile sensor array can periodically control robots to realize stable grasping according to the real-time grasping state of the prediction model.

2016 ◽  
Vol 28 (3) ◽  
pp. 378-385 ◽  
Author(s):  
Yancheng Wang ◽  
◽  
Kailun Xi ◽  
Deqing Mei ◽  
Guanhao Liang ◽  
...  

[abstFig src='/00280003/14.jpg' width=""300"" text='A wearable tactile sensor array for three-axis contact force measurement and slip detection in prosthetic hand grasping' ] Using INASTAMOR pressure-conductive rubber as the sensing material, we developed a flexible tactile sensor array to measure three-axis contact force and slip. The sensor array has 9 (3 × 3) sensing units, each consisting of three layers, i.e., a bottom electrode, conductive rubber chips, a top polydimethylsiloxane (PDMS) bump. We detailed the array’s structural design, working principle, and fabrication process. We also characterize the array’s three-axis force measurement performance. The full-scale force measurement ranges and sensitivities in <em>x</em>-, <em>y</em>-, and <em>z</em>-axes are characterized as 5, 5, 20 N and 0.675, 0.677, 0.251 V/N, respectively. The array is mounted on a prosthetic hand for detecting contact force and slip occurrence in grasping. Results showed that the array measures three-axis contact force and detects slippage by using discrete wavelet transformation. The tactile sensor array has potential applications in robot-hand grasping that require simultaneous slip detection and three-axis contact force measurement.


Nanoscale ◽  
2016 ◽  
Vol 8 (36) ◽  
pp. 16302-16306 ◽  
Author(s):  
W. Deng ◽  
L. Jin ◽  
B. Zhang ◽  
Y. Chen ◽  
L. Mao ◽  
...  

2021 ◽  
pp. 1-1
Author(s):  
Chun-Peng Jiang ◽  
Nan Zhao ◽  
Gen-Cai Shen ◽  
Zu-De Lin ◽  
Bin Yang ◽  
...  

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