GelSight Fin Ray: Incorporating Tactile Sensing into a Soft Compliant Robotic Gripper

Liu, Sandra Q.; Adelson, Edward H.

doi:10.1109/robosoft54090.2022.9762175

Cited by 30 publications

(20 citation statements)

References 38 publications

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“…In other words, it takes work to guarantee the accuracy of 2D MDM in terms of details. From this point of view, 2D MDM methods tend to be more suitable for measuring overall contact properties (e.g., concentrated forces and moments [67], [74]). In addition, different mapping models need to be trained to reconstruct the tactile information for each modality, such as morphology, slip, and contact force distribution.…”

Section: Discussionmentioning

confidence: 99%

Marker Displacement Method Used in Vision-Based Tactile Sensors—From 2-D to 3-D: A Review

Jiang

2023

IEEE Sensors J.

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The vision-based tactile sensor has been proven to be a promising device for sensing tactile information. Among such sensors, the marker displacement method (MDM) is the most common method used in such sensors for representing and extracting contact information. It uses the position field and displacement field of a marker array to characterize the original tactile information, and further achieves multimodal tactile perception through original information processing. This article is the first to classify MDM into three typical categories based on the dimensionality perspective: 2D MDM, 2.5D MDM, and 3D MDM. A comparison study is presented with a focus on the principles, characteristics, applications, and distinctions of these three methods. The latest literature has also been researched as the arguments. Finally, a summary of these three categories is presented as a helpful reference.

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Section: Discussionmentioning

confidence: 99%

Marker Displacement Method Used in Vision-Based Tactile Sensors—From 2-D to 3-D: A Review

Jiang

2023

IEEE Sensors J.

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“…178 Figure 11(C), “Tactile”, shows a robotic gripper with a GelSight sensor at the tips of a fin ray gripper. 170 A benefit of this sensing approach is that the compliant nature of the elastomer enables sensing as it deforms around a grasped object. Such compliance is necessary for robust high-speed grasping.…”

Section: Grasping Bioinspired Robotics Vignette 3: Agr's Mechanism Fo...mentioning

confidence: 99%

Bird-inspired robotics principles as a framework for developing smart aerospace materials

Hoffmann

Chen

Cutkosky

et al. 2023

Journal of Composite Materials

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Birds are notable for their ability to seamlessly transition between different locomotory functions by dynamically leveraging their shape-shifting morphology. In contrast, the performance of aerial vehicles is constrained to a narrow flight envelope. To understand which functional morphological principles enable birds to successfully adapt to complex environments on the wing, engineers have started to develop biomimetic models of bird morphing flight, perching, aerial grasping and dynamic pursuit. These studies show how avian morphological capabilities are enabled by the biomaterial properties that make up their multifunctional biomechanical structures. The hierarchical structural design includes concepts like lightweight skeletons actuated by distributed muscles that shapeshift the body, informed by embedded sensing, combined with a soft streamlined external surface composed of thousands of overlapping feathers. In aerospace engineering, these functions are best replicated by smart materials, including composites, that incorporate sensing, actuation, communication, and computation. Here we provide a review of recently developed biohybrid, biomimetic, and bioinspired robot structural design principles. To inspire integrative smart material design, we first synthesize the new principles into an aerial robot concept to translate it into its aircraft equivalent. Promising aerospace applications include multifunctional morphing wing structures composed out of smart composites with embedded sensing, artificial muscles for robotic actuation, and fast actuating compliant structures with integrated sensors. The potential benefits of developing and mass-manufacturing these materials for future aerial robots and aircraft include improving flight performance, mission scope, and environmental resilience.

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“…Another promising alternative is the GelSight technology, which consists of a combination of computer vision and soft materials for tactile reconstruction ( Johnson and Adelson, 2009 ). Recently, Liu and Adelson presented a Fin Ray ® gripper with integrated a GelSight sensor to sense object orientation and deformation fields while grasping an object, performing reorientation and placement of a delicate object such as a wine glass ( Liu and Adelson, 2022 ).…”

Section: Current Limitations and Perspectivesmentioning

confidence: 99%

Soft robotics for infrastructure protection

Milana

2022

Front. Robot. AI

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The paradigm change introduced by soft robotics is going to dramatically push forward the abilities of autonomous systems in the next future, enabling their applications in extremely challenging scenarios. The ability of soft robots to safely interact and adapt to the surroundings is key to operate in unstructured environments, where the autonomous agent has little or no knowledge about the world around it. A similar context occurs when critical infrastructures face threats or disruptions, for examples due to natural disasters or external attacks (physical or cyber). In this case, autonomous systems may be employed to respond to such emergencies and have to be able to deal with unforeseen physical conditions and uncertainties, where the mechanical interaction with the environment is not only inevitable but also desirable to successfully perform their tasks. In this perspective, I discuss applications of soft robots for the protection of infrastructures, including recent advances in pipelines inspection, rubble search and rescue, and soft aerial manipulation, and promising perspectives on operations in radioactive environments, underwater monitoring and space exploration.

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GelSight Fin Ray: Incorporating Tactile Sensing into a Soft Compliant Robotic Gripper

Cited by 30 publications

References 38 publications

Marker Displacement Method Used in Vision-Based Tactile Sensors—From 2-D to 3-D: A Review

Marker Displacement Method Used in Vision-Based Tactile Sensors—From 2-D to 3-D: A Review

Bird-inspired robotics principles as a framework for developing smart aerospace materials

Soft robotics for infrastructure protection

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