Grasp Stability Analysis of an Isotropic Direct Driven Three-Finger Soft Robot Hand

Natarajan, Elango; Solihin, Mahmud Iwan; Chong, Jeunn Hao

doi:10.18517/ijaseit.7.5.2526

Cited by 7 publications

(2 citation statements)

References 20 publications

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“…Examples of research on force control, particularly for the robotic hand can be found in [10][11][12]. Most of these research studies aim mainly to create a biomechanically realistic human hand.…”

Section: The Materials Methods 21 Literature Review (Finger Rehabilitamentioning

confidence: 99%

Force Control for One Degree of Freedom Haptic Device using PID Controller

Husni¹,

Rahman²,

Jalil³

et al. 2020

IJIE

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Haptics has been used as an additional feedback to increase human experience to the environment over years and its application has been widening into education, manufacturing and medical. The most developed haptic devices are for rehabilitation purposes. The rehabilitation process usually depends on the physiotherapist. But it requires repetitive movements for long-term rehabilitation, thus haptic devices are needed. Most of the rehabilitation devices are include haptic feedback to enhance therapeutic outcome during the rehabilitation process. However, the devices typically incorporate multiple degrees of freedom (DOF), complex design, and are costly. Rehabilitation for hand movement such as grasping, squeezing, holding and pinching usually does not need an expensive and complex device. Therefore, the goal of this study is to develop a simple one DOF Haptic Device for grasping rehabilitation exercise. The performance of the haptic device is tested with different conventional controllers, such as Proportional (P) controller, Proportional-Integral (PI) controller, Proportional-Derivative (PD) controller and Proportional-Integral-Derivative (PID) controller, to obtain the best proposed controller based on the lowest value of Mean Square Error (MSE). The results show that PID Controller (MSE = 0.0028) is the most suitable for the haptic device with Proportional gain (Kp), Integral gain (Ki) and Derivative gain (Kd) are 1.3, 0.01 and 0.2 respectively. The force control algorithm can imitate the training motion of grasping movement for the patient.

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Section: The Materials Methods 21 Literature Review (Finger Rehabilitamentioning

confidence: 99%

Force Control for One Degree of Freedom Haptic Device using PID Controller

Husni¹,

Rahman²,

Jalil³

et al. 2020

IJIE

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“…The conventional two-finger type gripper has a single grasping posture, which makes it difficult to achieve stable and efficient picking in complex environments. The three-fingered gripper has the characteristics of strong grasping force, flexible contact, and strong adaptability [7,8]. In complex environments, it can accomplish the grasping of objects in different postures.…”

Section: Introductionmentioning

confidence: 99%

A New Picking Pattern of a Flexible Three-Fingered End-Effector for Apple Harvesting Robot

Ji,

He,

et al. 2024

Agriculture

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During the picking process of the apple harvesting robot, the attitude of the end effector holding the apple and the movement method of separating the apple directly affect the success rate of picking. In order to improve the stability of the picking process, reduce the gripping force, and avoid apple dislodgement and damage, this work studies the new apple-picking pattern of the flexible three-fingered end-effector based on the analysis of the existing apple-picking pattern. First, two new three-finger grasping postures for wrapping the apple horizontally and vertically on the inside of the fingers are proposed, and a new method of separating the stem with a circular-pull-down motion of the end-effector picking the apple is designed. Then, the pressure on the apple under different picking patterns was analyzed, and a branch–stem–apple simulation model was established. Combining the constraint conditions such as the angle between the apple stem and the vertical direction, the movement speed, the root impulse, and so on, the optimal angle of apple circular movement and the force required to realize the movement are obtained through dynamic simulation experiments. Finally, the experiments of apple picking patterns were carried out with the flexible three-fingered end-effector. The experiment shows that the best angle for apple picking is 15°~20° using the circular-pull-down movement separation method. In terms of average grasping force peaks and pressures, the combination of the vertical holding posture of the inner finger and the circular-pull-down movement separation method is the best picking pattern. In this pattern, the average peak exerts force on the inner side of a single finger is about 8.52 N, and the pressure is about 20.9 KPa.

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Optimal Grasping Control System for Performing Precision Indirect Teaching of Robot Hand

Jin

Lee

2022

Lecture Notes in Networks and Systems

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Grasp Stability Analysis of an Isotropic Direct Driven Three-Finger Soft Robot Hand

Cited by 7 publications

References 20 publications

Force Control for One Degree of Freedom Haptic Device using PID Controller

Force Control for One Degree of Freedom Haptic Device using PID Controller

A New Picking Pattern of a Flexible Three-Fingered End-Effector for Apple Harvesting Robot

Optimal Grasping Control System for Performing Precision Indirect Teaching of Robot Hand

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