Gripping performance of soft grippers with fingerprint-like surface texture for objects with slippery surfaces

Hao, Tianze; Xiao, Huaping; Liu, Yibo; Pang, Dezhi; Liu, Shuhai

doi:10.1016/j.triboint.2023.108992

Cited by 2 publications

(1 citation statement)

References 30 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Hao et al indicated that fingerprint-like surface textures significantly enhanced the pinch-grasping ability of soft humanoid hands in water and oil lubrication conditions, surpassing the performance on smooth surfaces [111]. Additionally, applying a concentrated hyaluronic acid solution to the surfaces with fingerprint-like textures enabled the soft hand to grasp a variety of common medical instruments, marking a substantial improvement over smooth surfaces [112].…”

Section: Methods To Enhance Grasping and Manipulation Performancementioning

confidence: 99%

Anthropomorphic Soft Hand: Dexterity, Sensing, and Machine Learning

Wang,

Hao,

Liu

et al. 2024

Actuators

Self Cite

View full text Add to dashboard Cite

Humans possess dexterous hands that surpass those of other animals, enabling them to perform intricate, complex movements. Soft hands, known for their inherent flexibility, aim to replicate the functionality of human hands. This article provides an overview of the development processes and key directions in soft hand evolution. Starting from basic multi-finger grippers, these hands have made significant advancements in the field of robotics. By mimicking the shape, structure, and functionality of human hands, soft hands can partially replicate human-like movements, offering adaptability and operability during grasping tasks. In addition to mimicking human hand structure, advancements in flexible sensor technology enable soft hands to exhibit touch and perceptual capabilities similar to humans, enhancing their performance in complex tasks. Furthermore, integrating machine learning techniques has significantly promoted the advancement of soft hands, making it possible for them to intelligently adapt to a variety of environments and tasks. It is anticipated that these soft hands, designed to mimic human dexterity, will become a focal point in robotic hand development. They hold significant application potential for industrial flexible gripping solutions, medical rehabilitation, household services, and other domains, offering broad market prospects.

show abstract

Section: Methods To Enhance Grasping and Manipulation Performancementioning

confidence: 99%

Anthropomorphic Soft Hand: Dexterity, Sensing, and Machine Learning

Wang,

Hao,

Liu

et al. 2024

Actuators

Self Cite

View full text Add to dashboard Cite

show abstract

Design and Experimental Test of Rope-Driven Force Sensing Flexible Gripper

Zhu,

Liu,

et al. 2024

Sensors

View full text Add to dashboard Cite

Robotic grasping is a common operation scenario in industry and agriculture, in which the force sensing function is a significant factor to achieve reliable grasping. Existing force sensing methods of flexible grippers require intelligent materials or force sensors embedded in the flexible gripper, which causes such problems of higher manufacturing requirements and contact surface properties changing. In this paper, a novel rope-driven force sensing flexible gripper is designed based on the fin-shaped gripper structure, which can realize the grasping sensing functions of contact nodes and contact forces without the need for force sensors. Firstly, the rope-driven force sensing flexible gripper is designed, including the driving unit, the transmission part, the gripper unit, and the force sensing unit. The force sensing unit and the gripper unit are connected by rope, and the prototype of the rope-driven force sensing flexible gripper is completed. Secondly, a force sensing algorithm and control system based on finite element method and grasping geometric relationship are designed to realize the rope-driven force sensing flexible gripper grasping control and sensor data acquisition and processing. Finally, the experimental system of the rope-driven force sensing flexible gripper is built, and the grasping experimental tests of objects with different diameters and different contact nodes are carried out to verify the force sensing function of the rope-driven force sensing flexible gripper. The force sensing flexible gripper designed in this paper can provide a new idea for the design and force sensing method of intelligent robotic grasping system in robotic teaching, scientific research, and industrial applications.

show abstract

Gripping performance of soft grippers with fingerprint-like surface texture for objects with slippery surfaces

Cited by 2 publications

References 30 publications

Anthropomorphic Soft Hand: Dexterity, Sensing, and Machine Learning

Anthropomorphic Soft Hand: Dexterity, Sensing, and Machine Learning

Design and Experimental Test of Rope-Driven Force Sensing Flexible Gripper

Contact Info

Product

Resources

About