Delicate grasping by robotic gripper with incompressible fluid-based deformable fingertips

Maruyama, Ryoji; Watanabe, Toru; Uchida, Masahiro

doi:10.1109/iros.2013.6697148

Cited by 50 publications

(46 citation statements)

References 14 publications

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“…We investigated tofu grasping with the pushing forces and showed that safe tofu grasping could be realized. Note that the danger area starting points were not close to the initial break points presented in our previous paper [1,2].…”

Section: Introductionmentioning

confidence: 60%

“…Robotic hands [1][2][3][4][5][6][7][8][9][10][11][12][13] have essential roles as end-effectors to complete such tasks. In order to substitute for the hands of a human, robotic hands must be able to perform a wide variety of functions to grasp and manipulate objects.…”

Section: Introductionmentioning

confidence: 99%

“…In order to substitute for the hands of a human, robotic hands must be able to perform a wide variety of functions to grasp and manipulate objects. Most of the developed robotic hands have targeted rigid object grasping [3][4][5][6][7][8][9], with only a few targeting delicate grasping [1,2,[10][11][12][13]. In the human environment, there are many fragile and soft objects such as foods and living tissues.…”

Section: Introductionmentioning

confidence: 99%

“…We previously presented [1,2] a robotic gripper whose fingertips (contact area) consisted of a rubber bag filled with a viscoelastic fluid or gel (Fig. 1).…”

Section: Introductionmentioning

confidence: 99%

“…Figure 1. Structure of deformable fingertip and tofu grasping in [1,2] With this in mind, this study experimentally investigated the phenomenon when pushing tofu using the viscoelastic fluid fingertips. The main findings and contributions are as follows.…”

Section: Introductionmentioning

confidence: 99%

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Identification of danger state for grasping delicate tofu with fingertips containing viscoelastic fluid

Adachi

Fujihira

Watanabe

2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-In this study, we experimentally investigated the process leading to fracture in tofu grasping by deformable fingertips filled with a fluid. In our previous papers [1, 2], we developed deformable fingertips using a rubber bag filled with a viscoelastic fluid, and presented a strategy for delicate tofu grasping without any advance knowledge about fracture. However, the predication point was close to fracture, and the prediction was then still a gamble. In order to realize fracture prediction at an earlier stage, we examined the process leading to fracture when pushing tofu by the deformable fingertips. The stiffness of the fingertips can be controlled with the pressure of the fluid inside the fingertips. The pushing force and fluid pressure were examined for different levels of stiffness of the fingertips. The main findings and contributions are as follows. 1) The convergence of the ratio of the contact force to fluid pressure gives an indication of dent occurrence. This convergence could be seen when fingertip rubber bag was not filled (low stiffness). 2) It was easier for a dent to occur when the fingertip rubber bag was not filled than when it was filled (high stiffness). 3) Changes in the rate of increase of the fluid pressure as the tofu was pushed were repeatedly observed. We defined this as a phase change and present a method for detecting such changes. The phase change points were detected by comparing the fitting accuracies of different approximation models. 4) The last and second to the last phase changes before fracture were detected by detecting the first phase change (after the convergence of the rate of the contact force to fluid pressure if the fingertip bag was not completely filled). The detected points can be regarded as alert points indicating a fracture risk that is not close to the fracture point.

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Section: Introductionmentioning

confidence: 60%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

“…We previously presented [1,2] a robotic gripper whose fingertips (contact area) consisted of a rubber bag filled with a viscoelastic fluid or gel (Fig. 1).…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations