Initial Slip Detection and Its Application in Biomimetic Robotic Hands

Zhang, Yi; Duan, Xiaogang; Zhong, Guoliang; Deng, Hua

doi:10.1109/jsen.2016.2596840

Cited by 20 publications

(11 citation statements)

References 33 publications

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“…Detection of slippage plays an important role in grip force control for robotic hands to achieve a stable grasp as well as other manipulation tasks [ 12 , 42 ]. A robot hand experiences mechanical vibrations during slippage.…”

Section: Parameters and Performancementioning

confidence: 99%

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A Pneumatic Tactile Sensor for Co-Operative Robots

Gong

et al. 2017

Sensors

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Tactile sensors of comprehensive functions are urgently needed for the advanced robot to co-exist and co-operate with human beings. Pneumatic tactile sensors based on air bladder possess some noticeable advantages for human-robot interaction application. In this paper, we construct a pneumatic tactile sensor and apply it on the fingertip of robot hand to realize the sensing of force, vibration and slippage via the change of the pressure of the air bladder, and we utilize the sensor to perceive the object’s features such as softness and roughness. The pneumatic tactile sensor has good linearity, repeatability and low hysteresis and both its size and sensing range can be customized by using different material as well as different thicknesses of the air bladder. It is also simple and cheap to fabricate. Therefore, the pneumatic tactile sensor is suitable for the application of co-operative robots and can be widely utilized to improve the performance of service robots. We can apply it to the fingertip of the robot to endow the robotic hand with the ability to co-operate with humans and handle the fragile objects because of the inherent compliance of the air bladder.

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Section: Parameters and Performancementioning

confidence: 99%

“…A robot hand experiences mechanical vibrations during slippage. Therefore, people usually take vibrations as the slip-signals [ 10 , 42 ]. We setup an experiment as shown in Figure 11 to test the ability of sensing slippage of the pneumatic tactile sensor.…”

Section: Parameters and Performancementioning

confidence: 99%

A Pneumatic Tactile Sensor for Co-Operative Robots

Gong

et al. 2017

Sensors

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“…Yi zhang et al [12] proposed a method for detecting an incipient slip by using a wavelet transform, the high frequency of the signal of the grasping force was extracted and any sudden change in the wavelet coefficient would be used as an indication for the beginning of the initial slip.…”

Section: Introduction and Previous Workmentioning

confidence: 99%

Slip Detection for a Specific Design of Fingertip in Multi-Direction Under Different Load Conditions

Tawfik¹,

Baqer²,

Abdulrazzaq³

2019

JEASD

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In this paper, a novel design of robotic fingertip has been proposed to detect slippage between the robotic fingertip and the grasped object in multi-direction under different types of loads (static and dynamic loads). The detection process is based on the monitoring of variation in the normal to the tangential component of contact force ratios. The fingertip is composed of a compression springs and a conventional force sensors that are mounted to be able to measure the contact force components continuously. A mathematical model has been derived relative to a proposed design with the help of Matlab-Simulink program. Furthermore, the robotic hand mechanism contains the flexible parts to adapt the grasping force during the slippage occurrence period in spite of the hand actuator is in a stopped status. The grasped object is designed in a cube shape with two unbalance DC motors to generate an excitation that is used as an external dynamic load. The experimental results revealed that the proposed design for detecting slippage in multi-direction is feasible and effective for improving the stability of the grasping process.

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“…(4) Pressure sensitive materials: This method is based on the detection of rapid electrical property change of pressure sensitive materials induced by pressure distribution change due to slip. The following pressure sensitive materials are used: a pressure-sensitive rubber [ 6 , 7 , 8 , 9 ], a piezoresistive material [ 10 , 11 ], piezoelectric materials such as PZT (lead zirconate titanate) [ 12 ] and PVDF (polyvinylidene fluoride) [ 13 , 14 , 15 ]. This method has milli-seconds-order high response speed, thus being superior in detecting incipient slip.…”

Section: Introductionmentioning

confidence: 99%

Grasping Force Control for a Robotic Hand by Slip Detection Using Developed Micro Laser Doppler Velocimeter

Morita

Nogami

Higurashi

et al. 2018

Sensors

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The purpose of this paper is to show the feasibility of grasping force control by feeding back signals of the developed micro-laser Doppler velocimeter (μ-LDV) and by discriminating whether a grasped object is slipping or not. LDV is well known as a high response surface velocity sensor which can measure various surfaces—such as metal, paper, film, and so on—thus suggesting the potential application of LDV as a slip sensor for grasping various objects. However, the use of LDV as a slip sensor has not yet been reported because the size of LDVs is too large to be installed on a robotic fingertip. We have solved the size problem and enabled the performance of a feasibility test with a few-millimeter-scale LDV referred to as micro-LDV (μ-LDV) by modifying the design which was adopted from MEMS (microelectromechanical systems) fabrication process. In this paper, by applying our developed μ-LDV as a slip sensor, we have successfully demonstrated grasping force control with three target objects—aluminum block, wood block, and white acrylic block—considering that various objects made of these materials can be found in homes and factories, without grasping force feedback. We provide proofs that LDV is a new promising candidate slip sensor for grasping force control to execute target grasping.

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Initial Slip Detection and Its Application in Biomimetic Robotic Hands

Cited by 20 publications

References 33 publications

A Pneumatic Tactile Sensor for Co-Operative Robots

A Pneumatic Tactile Sensor for Co-Operative Robots

Slip Detection for a Specific Design of Fingertip in Multi-Direction Under Different Load Conditions

Grasping Force Control for a Robotic Hand by Slip Detection Using Developed Micro Laser Doppler Velocimeter

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