Soft robotic fingers with sensorized pre-charged finger pulp

IF 3.7 3区材料科学 Q1 INSTRUMENTS & INSTRUMENTATION

Smart Materials and Structures Pub Date : 2024-06-30 DOI:10.1088/1361-665x/ad5a5b

Zihui Zhu, Yang Yang, Shaoyang Yan, Songyan Wang, Yuan Xie, Yili Fu, Yunquan Li and Pei Jiang

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引用次数: 0

Abstract

Pneumatically driven soft actuators with sensors have been developing rapidly these years. They can perceive external stimulus and be applied to different scenarios. In this study, we present a novel soft robotic finger with sensorized finger pulp based on sealing a flexible fabric piezoresistive film called Velostat into a pre-charged air bag, which can perceive the contact force with an object based on changes in resistance value of the sensor. The soft sensor mimics human finger pulp and deforms passively according to the shape of objects during grasping, so that it can firmly contact with objects and as such improves the gripper’s grasping stability. Moreover, based on force feedback, the actuator can reduce or increase the input pressure to hold the object and control the contact force precisely. The sensor exhibits a sensitivity of up to 0.328 kPa−1 and can measure pressures ranging from 0 to over 10 kPa. The sensor’s measurement range and sensitivity can be pre-adjusted by regulating the pre-charged pressure during fabrication for different grasping tasks. The response/recovery time of the sensor is 80/60 ms on average. Experiments show that the finger with sensorized pulp can be applied for object softness and size detection, object transport minitoring as well as force control grasping. The proposed soft robotic finger has potential for applications in scenarios that require safe contact and closed-loop control.

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带有感应式预充电指浆的柔软机器人手指

近年来，带有传感器的气动软执行器发展迅速。它们可以感知外部刺激并应用于不同场景。在这项研究中，我们介绍了一种新型的带感应指肉的软体机器人手指，其原理是将一种名为 Velostat 的柔性织物压阻薄膜密封到一个预充电的气囊中，该气囊可根据传感器电阻值的变化感知与物体的接触力。这种软传感器模仿人类的指肉，在抓取过程中会根据物体的形状被动变形，因此可以牢固地与物体接触，从而提高抓手的抓取稳定性。此外，根据力反馈，致动器可以减少或增加输入压力来抓取物体，并精确控制接触力。传感器的灵敏度高达 0.328 kPa-1，可测量 0 至 10 kPa 的压力。传感器的测量范围和灵敏度可在制造过程中通过调节预充压力进行预调，以适应不同的抓取任务。传感器的响应/恢复时间平均为 80/60 毫秒。实验表明，带有感应浆的手指可用于物体柔软度和大小检测、物体运输监控以及力控制抓取。拟议的软体机器人手指有望应用于需要安全接触和闭环控制的场景。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Smart Materials and Structures 工程技术-材料科学：综合

CiteScore

7.50

自引率

12.20%

发文量

317

审稿时长

3 months

期刊介绍： Smart Materials and Structures (SMS) is a multi-disciplinary engineering journal that explores the creation and utilization of novel forms of transduction. It is a leading journal in the area of smart materials and structures, publishing the most important results from different regions of the world, largely from Asia, Europe and North America. The results may be as disparate as the development of new materials and active composite systems, derived using theoretical predictions to complex structural systems, which generate new capabilities by incorporating enabling new smart material transducers. The theoretical predictions are usually accompanied with experimental verification, characterizing the performance of new structures and devices. These systems are examined from the nanoscale to the macroscopic. SMS has a Board of Associate Editors who are specialists in a multitude of areas, ensuring that reviews are fast, fair and performed by experts in all sub-disciplines of smart materials, systems and structures. A smart material is defined as any material that is capable of being controlled such that its response and properties change under a stimulus. A smart structure or system is capable of reacting to stimuli or the environment in a prescribed manner. SMS is committed to understanding, expanding and dissemination of knowledge in this subject matter.