Sensing slip of grasped wet, conformable objects

Burkhard, Natalie; Steger, Ryan; Cutkosky, Mark R.

doi:10.1109/iros.2017.8206465

Cited by 3 publications

(2 citation statements)

References 15 publications

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“…Some focus on dynamic signals, i.e., cannot measure steady state forces, with sensors like PVDF that only respond during a change in stimuli. Of course, there are groups who explore other physical modalities to measure contact conditions, such as temperature gradient as a way to detect slip in specialized tasks (Burkhard et al, 2017 ). There are practical issues when including sensors at distal locations on flexible appendages.…”

Section: Discussion and Perspectivesmentioning

confidence: 99%

Hands in the Real World

2020

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Robots face a rapidly expanding range of potential applications beyond controlled environments, from remote exploration and search-and-rescue to household assistance and agriculture. The focus of physical interaction is typically delegated to end-effectors-fixtures, grippers or hands-as these machines perform manual tasks. Yet, effective deployment of versatile robot hands in the real world is still limited to few examples, despite decades of dedicated research. In this paper we review hands that found application in the field, aiming to discuss open challenges with more articulated designs, discussing novel trends and perspectives. We hope to encourage swift development of capable robotic hands for long-term use in varied real world settings. The first part of the paper centers around progress in artificial hand design, identifying key functions for a variety of environments. The final part focuses on the overall trends in hand mechanics, sensors and control, and how performance and resiliency are qualified for real world deployment.

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Section: Discussion and Perspectivesmentioning

confidence: 99%

Hands in the Real World

2020

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“…Digital image correlation (detailed in Ref. [9]) was used to calculate the amount of slip that occurred in each video. All motion tracking was done using the open source MATLAB tool DLTdv5 [10].…”

Section: Motivationmentioning

confidence: 99%

The Role of Tissue Slip Feedback in Robot-Assisted Surgery

Burkhard

Steger

Cutkosky

2019

Journal of Medical Devices

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Slip, or accidental loss, of grasped biological tissue can have negative consequences in all types of surgery (open, laparoscopic, robot-assisted). This work focuses on slip in robot-assisted surgery (RAS) with the goal of improving the quality of grasping and tool–tissue interactions. We report on a survey of 112 RAS surgeons, the results of which support the value of detecting and reducing slip in a variety of procedures. We conducted validation tests using a thermal slip sensor in a surgical grasper on tissue in vivo and ex vivo. The results of the survey and validation informed a user study to assess whether tissue slip feedback can improve performance and reduce effort in a phantom tissue manipulation task. With slip feedback, experienced subjects were significantly faster to complete the task, dropped tissue less (3% versus 38%), and experienced decreased mental demands and situational stress. These results provide motivation to further develop the sensor technology and incorporate it in robotic surgical equipment.

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