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In this paper, we proposed a sensor structure that can be used to measure the tactile force of robot fingertip. The structure of the sensor was composed of a cylinder-shaped finger and a circular base. First, we analyzed the relationship between the contact position and the stress with elastic mechanics theory. Then the corresponding spline curve algorithm was designed to calculate the contact position...
The main objective of the presented work is to do a preliminary sensitivity analysis of the simplified neuromusculoskeletal model of the human middle finger that we have already developed [1], [2]. The importance of this study is to improve the model by well estimating internal parameters, which are the most affecting the model output, and by adapting it to each individual. The sensitivity analysis...
This paper proposes a motion planning method to manipulate a grasped object by a two-fingered robot hand based on the nonholonomy of rolling contacts. A grasped rectangular object is regulated to a target configuration through regulating the contact coordinates between the fingers and object using the holonomy generated by closed paths on semi-spherical fingertips. The parameters of the closed paths...
With the development in the fields of neurophysiology, clinical diagnosis of muscular degenerative diseases and medical rehabilitation, the electrophysiological reactions of muscles stimulated by micro-force have drawn the attention of scholars both at home and abroad. This paper proposes a new type of vibrotactile device, which can produce micro-stimulating force with variable magnitude, adjustable...
Soft materials have been incorporated in the design of robotic systems particularly as a damper, cover or contact pads. With the emergence of soft robotics, which focuses on robotic devices partially or entirely made of soft materials, robotic systems with high deformability, conformability and biomimicry can be realized. By pushing the limits of low cost 3D printing, this study focuses on designing...
We present a novel method for providing a tactile sensations using a tactile illusion in the toe pad during gait. Our method extends an illusion previously described in the finger pad, in which tactile sensations were induced when a vibration was presented to the fingernail while the finger pad was in contact with a surface. In Preliminary test, we qualitatively confirmed that the illusion could be...
We developed and evaluated a device aiming at quantifying stickiness. A typical pressure distribution sensor can measure a pressing force but cannot measure a tensile force. We therefore installed a pin array on a sensor, with the pin array applying an offset pressure to the sensor through its weight. Furthermore, a subjective stickiness evaluation and measurement of the adhesive force were performed...
Wearable glove type haptic interfaces are often required to be light weight, which constrains the actuator to exert low torques. This causes a virtual object to feel compliant, reducing the range of presented surface properties. To overcome the limitation, we propose to compensate the hardness of a virtual object with cutaneous feedback. A cutaneous haptic interface is designed to present the hardness...
The stiffness of a bag containing particles can be increased by evacuating the air inside it. This stiffness-control technology, referred to as granular jamming, has been used in force displays. In such displays, the operator feels a reaction-force sensation when deforming the bag with a hand motion. The particle-containing bag can be deformed into any shape; however, the bag cannot be converted into...
Two experiments tested young adults' ability to discriminate the direction of friction-defined textural gradients rendered by the Senseg FeelScreen™. Gradients were particularly effective when they spanned the low end of the intensity range. This trend likely reflects saturation of the device's rendering capabilities at high intensities, as confirmed by measurements with a manual linear tribometer...
Pin-based tactile displays have now been in use for more than forty years. One shortcoming, however, is their susceptibility to contaminants that jeopardize the operation of the delicate actuating mechanisms, necessitating costly periodic maintenance. We propose to cover such displays with a GoreTex protective layer to block the contaminants from reaching the sliding surfaces. The feel of the pins,...
Grasping an object in the presence of unpredictable disturbances and with no previous knowledge of the geometry and mass distribution of it represents a significant challenge in Robotics. Also, grasping an object with sufficient force to prevent slippage, whilst not damaging or deforming the shape of the object proves to be still an intricate challenge despite the existence of a huge body of literature...
The current research trends of object grasping can be summarized as caging grasping and force closure grasping. The motivation of this paper is to combine the advantage of caging grasping and force closure grasping to enable under-actuated grippers like the Lacquey gripper and the parallel grippers like the PR2 gripper to quickly grasp the flat unknown objects. Inspired by the idea that caging grasping...
An anti-ejection control strategy was proposed for the characteristics of underactuated prosthetic hand grasping process. The reference position can be calculated and the stiffness of objects can be estimated by the feedback signals of force and position. When the driving joint approaches the reference position and the actual grasp force does not reach the desired value, which means that the ejection...
The use of touch-based technology to interact with electronic devices pre-dates modern day multi-touch technology and even the personal computer. It has recently been growing in popularity in wearable computing devices especially in the form of textile based tactile sensor. These sensors often target the detection of not only touch but also force applied. A significant problem arises here in differentiating...
In our research work we designed a robotic gripper for industrial robotic arm which is capable of grasping any rigid as well as delicate objects. Our control system produces an adequate force to grasp any object. In this paper, we designed a gripper mechanism and a controller. Force sensor was fixed at the gripper finger to collect the force values while grasping. We implemented proportional-integral-derivative...
This paper presents a multi-level speed planning based capturing strategy. A kind of widely used simultaneous three-fingered end-effectors is selected to conduct the capturing strategy research. The mechanical characteristics of the end-effector and the grapple process are analyzed first, followed by the dynamic model of the system. The capturing speed is planned with the information from the positional...
This study presents a systematic optimal design procedure to develop an adaptive compliant gripper (ACG) for grasping objects with various sizes and shapes. A soft-add topology optimization algorithm is developed to synthesize the optimal layout of the ACG. One special characteristic of the proposed soft-add scheme is that the elements are equivalent to be numerically added into the analysis domain...
Automated grasping for a wide range of objects is challenging yet highly demanded for different applications. The technology for automated grasping a single object is mature, but some conventional gripping modules operation for grasping objects with different dimensions via tele-operation is ineffective and infeasible in some circumstances like high altitude or hazardous environment. To tackle these...
Humans are known to be good at manipulating tools. To cope with disturbances and uncertainties from the external environment during such tasks, they must be able to perceive small changes in orientation or tilt of the tool using mechanoreceptors in the glabrous skin of the fingertips. We hypothesize that the most sensitive part of human fingers, a flat surface on the distal phalanx (called apical...
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