Calibration of tactile/force sensors for grasping with the PRISMA Hand II

Canbay, D.E.; Ferrentino, Pasquale; Liu, H.; Moccia, Rocco; Pirozzi, Salvatore; Siciliano, Bruno; Ficuciello, Fanny

doi:10.1109/aim46487.2021.9517508

Cited by 2 publications

(1 citation statement)

References 30 publications

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“…It has become a widespread practice to model and investigate the process of gripping flexible objects using mechanical gripping devices [1, 8, 27]. However, an article [28] states that certain jet grippers, such as the one described in the article, make it much easier to handle flexible objects, particularly textiles.…”

Section: Introductionmentioning

confidence: 99%

Finite element modeling of grasping porous materials in robotics cells

Mykhailyshyn,

Fey,

Xiao

2023

Robotica

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Handling and manipulating flexible porous objects is one of the main challenges in robotics for household and industrial tasks. Improving the design of grippers for flexible objects of manipulation is an important stage in the development of this topic. This article proposes a method of modeling a gripper for porous objects using the finite element method. It identifies the main parameters of the model that will affect the grasping force and the permeability of porous objects. The power characteristics of the obtained gripper model for different supply pressures, with varying porosity of the manipulated objects, are determined. The obtained characteristics are then used to find the correspondence of channel length for three textile materials with different permeable properties. An experimental study of the lifting force is conducted, and a comparison is made with the obtained modeling data for the presented samples. Additionally, using the obtained simulation data, an analysis of the pressure distribution on the surface of the porous object of manipulation is performed. As a result, it is found that the gripping device must use a design with elements to stabilize the distribution of pressure in its chamber, which will increase the stability of the gripping process.

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Section: Introductionmentioning

confidence: 99%

Finite element modeling of grasping porous materials in robotics cells

Mykhailyshyn,

Fey,

Xiao

2023

Robotica

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Robotics goes PRISMA

Selvaggio,

Moccia,

Arpenti

et al. 2024

Robotica

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In this article, we review the main results achieved by the research activities carried out at PRISMA Lab of the University of Naples Federico II where, for 35 years, an interdisciplinary team of experts developed robots that are ultimately useful to humans. We summarize the key contributions made in the last decade in the six research areas of dynamic manipulation and locomotion, aerial robotics, human-robot interaction, artificial intelligence and cognitive robotics, industrial robotics, and medical robotics. After a brief overview of each research field, the most significant methodologies and results are reported and discussed, highlighting their cross-disciplinary and translational aspects. Finally, the potential future research directions identified are discussed.

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Calibration of tactile/force sensors for grasping with the PRISMA Hand II

Cited by 2 publications

References 30 publications

Finite element modeling of grasping porous materials in robotics cells

Finite element modeling of grasping porous materials in robotics cells

Robotics goes PRISMA

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