Exploratory Hand: Leveraging Safe Contact to Facilitate Manipulation in Cluttered Spaces

Lin, Michael A.; Thomasson, Rachel; Uribe, Gabriela Agustina; Choi, Hojung; Cutkosky, Mark R.

doi:10.1109/lra.2021.3068941

Cited by 8 publications

(4 citation statements)

References 31 publications

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Section: Resultsmentioning

confidence: 99%

“…This application does not have the materials and electrical current restrictions of the MR machine but instead exploits the compactness and fast response of the clutch. In this application the clutch replaces a previously reported solenoid and band brake clutch [45] which was used to maintain a desired grasp force while reducing Gripper Design: To achieve a low effective end-point mass for the sliding finger (the right finger in Figure 14a), the design needs to minimize both reflected motor inertia and finger inertia. We use a Maxon RE-25 motor with 10.5 gcm 2 rotor inertia and a transmission consisting of a capstan/cable drive that results in an overall reflected inertia of 13.5 grams for the finger along its sliding axis.…”

Section: Low Inertia Robotic Gripper Applicationmentioning

confidence: 99%

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An Electrostatically Actuated Gecko Adhesive Clutch

Hajj‐Ahmad

Han

Lin

et al. 2023

Adv Materials Technologies

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This work presents a new variation on electrostatic clutches that uses gecko-inspired adhesives instead of friction for its braking force. As a result, it requires no power or normal pressure to remain engaged or disengaged. It requires only a brief pulse of voltage to switch states. In some applications, this capability is desirable for safety reasons. As an illustration, the clutch is incorporated into the needle-driving axis of a magnetic resonance compatible teleoperated robotic system. Adding the clutch has no effect on imaging quality and provides a fail-safe brake to prevent the needle axis from dropping in the event of a power failure. As a second application, the clutch is integrated into a force-controlled robotic gripper where it allows the motor to be turned off while maintaining a static grasping force. In both applications, the 20 ms response time of the clutch prototypes is advantageous to prevent any motion immediately after receiving a braking command. This work additionally presents details on the design and manufacturing process of the gecko-inspired clutch, including a new, non-uniform profile for the microscopic adhesive features. The fabricated prototypes are thin (305 μm per layer) and flexible. They provide a controllable, adhesive braking force of 60 kPa per layer. Multiple layers can be assembled to increase the braking force.

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Section: Resultsmentioning

confidence: 99%

Section: Low Inertia Robotic Gripper Applicationmentioning

confidence: 99%

An Electrostatically Actuated Gecko Adhesive Clutch

Hajj‐Ahmad

Han

Lin

et al. 2023

Adv Materials Technologies

Self Cite

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“…In the future work, our team will focus on soft probe position estimation with just moment reading at the base and touching one point several times with moving the probe, in the hope of reducing even further the amount of force that can be applied to the environment, and in the meantime to increase the estimation of the contact point position. Moreover, we plan to use the proposed technology in a soft gripper to have an exploratory hand [28], to perform sensing and grasping.…”

Section: Resultsmentioning

confidence: 99%

Spatial Position Estimation of Lightweight and Delicate Objects using a Soft haptic Probe

Sofla,

Vayakkattil,

Calisti

2023

2023 IEEE International Conference on Soft Robotics (RoboSoft)

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This paper reports on the use of a soft probe as a haptic exploratory device with Force/Moment (F/M) Readings at its base to determine the position of extremely lightweight and delicate objects. The proposed method uses the mathematical relationships between the deformations of the soft probe and the F/M sensor outputs, to reconstruct the shape of the probe and the position of the touched object. The Cosserat rod theory was utilized in this way under the assumption that only one contact point occurs during the exploration and friction effects are negligible. Soft probes in different sizes were designed and fabricated using a Form3 3D printer and Elastic50A resin, for which the effect of gravity is not negligible. Experimental results verified the performance of the proposed method that achieved a position error between of ~0.7-13mm, while different external forces (between 0.01N to 1.5N) were applied along the soft probes to resemble the condition of touching lightweight objects. Eventually, the method is used to estimate position of some points in a delicate card house structure.

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“…Firstly, it facilitates the estimation of whether the robotic hand has established contact with its surrounding environment. Lin et al [13] introduced an innovative gripper that incorporated transparent transmission with low reflective inertia in its fingers, Backus et al [14] investigated the resonant frequency of the flexible joints in robotic fingers through employing a phase-locked loop. For a soft robotic hand, Homberg et al [15] developed a bending configuration model to gather contact-related information with objects.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Analysis of Stable Contact States in the Anthropomorphic Robotic Hand with Soft Materials and Rigid Structures

Li,

Liu,

et al. 2024

Electronics

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Conducting contact state analysis enhances the stability of object grasping by an anthropomorphic robotic hand. The incorporation of soft materials grants the anthropomorphic robotic hand a compliant nature during interactions with objects, which, in turn, poses challenges for accurate contact state analysis. According to the characteristic of the anthropomorphic robotic hand’s compliant contact, a kinetostatic modeling method based on the pseudo-rigid-body model is proposed. It can realize the mapping between contact force and driving torque. On this basis, the stable contact states of the anthropomorphic robotic hand under the envelope grasping mode are further analyzed, which are used to reasonably plan the contact position of the anthropomorphic robotic hand before grasping an object. Experimental results validate the efficacy of the proposed approach during grasping and ensure stable contact in the initial grasping stage. It significantly contributes to enhancing the reliability of the anthropomorphic robotic hand’s ability to securely grasp objects.

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Exploratory Hand: Leveraging Safe Contact to Facilitate Manipulation in Cluttered Spaces

Cited by 8 publications

References 31 publications

An Electrostatically Actuated Gecko Adhesive Clutch

An Electrostatically Actuated Gecko Adhesive Clutch

Spatial Position Estimation of Lightweight and Delicate Objects using a Soft haptic Probe

Modeling and Analysis of Stable Contact States in the Anthropomorphic Robotic Hand with Soft Materials and Rigid Structures

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