Soft Fingers with Controllable Compliance to Enable Realization of Low Cost Grippers

Lin, Keng-Yu; Gupta, Satyandra K.

doi:10.1007/978-3-319-63537-8_48

Cited by 9 publications

(2 citation statements)

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“…As a contact sensor, early detection is more useful than high saturation levels. These encouraging results on a single elastomeric finger will provide a foundation upon which sensorized actuators will be developed based on actuator designs from our previous work [15,39].…”

Section: Discussionmentioning

confidence: 72%

“…While the presented work was on a finger designed specifically to illustrate adherence to classical mechanics of materials theory, this state estimation could be applied to a range of soft actuators and soft robots in general. As stated above, we plan to use this technique in an actuator design similar to our previous soft finger [15,39] with a roughly square cross-section. These fiber and fluidic sensors could be used in many soft robots with actuators having rectangular, round, or trapezoidal cross-sections, requiring sensors to be placed at based on beam theory for that cross-section.…”

Section: Discussionmentioning

confidence: 99%

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Soft Robotic Sensing, Proprioception via Cable and Microfluidic Transmission

2021

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Current challenges in soft robotics include sensing and state awareness. Modern soft robotic systems require many more sensors than traditional robots to estimate pose and contact forces. Existing soft sensors include resistive, conductive, optical, and capacitive sensing, with each sensor requiring electronic circuitry and connection to a dedicated line to a data acquisition system, creating a rapidly increasing burden as the number of sensors increases. We demonstrate a network of fiber-based displacement sensors to measure robot state (bend, twist, elongation) and two microfluidic pressure sensors to measure overall and local pressures. These passive sensors transmit information from a soft robot to a nearby display assembly, where a digital camera records displacement and pressure data. We present a configuration in which one camera tracks 11 sensors consisting of nine fiber-based displacement sensors and two microfluidic pressure sensors, eliminating the need for an array of electronic sensors throughout the robot. Finally, we present a Cephalopod-chromatophore-inspired color cell pressure sensor. While these techniques can be used in a variety of soft robot devices, we present fiber and fluid sensing on an elastomeric finger. These techniques are widely suitable for state estimation in the soft robotics field and will allow future progress toward robust, low-cost, real-time control of soft robots. This increased state awareness is necessary for robots to interact with humans, potentially the greatest benefit of the emerging soft robotics field.

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Section: Discussionmentioning

confidence: 72%

Section: Discussionmentioning

confidence: 99%