Implementation of tactile sensors on a 3-Fingers Robotiq® adaptive gripper and visualization in VR using Arduino controller

This paper presents the design, prototype and kinematic model of a new adaptive underactuated finger with an articulated skin/surface that is able to bend and, at the same time, provides active rolling motion along its central axis while keeping the finger configuration. The design is based on a planar chain of overlapping spherical phalanxes that are tendon-driven. The finger has an articulated surface made of an external chain of hollow universal joints that can rotate via its central axis on the surface of the internal structure. The outer surface provides a second active Degree of Freedom (DoF). The two actuators, driving the bending and/or rolling motion, can be used independently. A set of experiments have been included to validate and measure the performance of the prototype for the grasping and rolling actions. The proposed finger can be built with a different number of phalanxes and sizes. A number of these fingers can be arranged along a palm structure resulting in a multi-finger robotic grasper for applications that require adaptation and in-hand manipulation capabilities such as pHRI.

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“…Finally, the tangential forces F r at the ring surfaces can be computed by multiplying the torques by the ring radius as in (11).…”

Section: ) Description Of Angular Positionmentioning

confidence: 99%

Adaptive Underactuated Finger With Active Rolling Surface

Gómez-de-Gabriel

Würdemann

2021

IEEE Robot. Autom. Lett.

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“…Considering the complexities of production environment, the field of robotics and especially collaborative robotics have received considerable attention from the VR research community. An approach to link a robot with VR to evaluate the performance of a robotic gripper has been presented by (Pelliccia et al 2018). An early stage demonstrator to highlight the value of robot programming via VR was discussed by (de Giorgio et al 2017) using Unity game engine.…”

Section: Related Workmentioning

confidence: 99%

Virtual reality in manufacturing: immersive and collaborative artificial-reality in design of human-robot workspace

Malik

Masood

Bilberg

2019

International Journal of Computer Integrated Manufacturing

124

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Over the past years the concept of human centred automation has received a lot of attention to achieve hybrid automation. A form of hybrid automation is taking benefit from the synergistic effect of human-robot collaboration. When used in assembly, the requirement of flexibility, adaptability and safety makes the design and redesign of human-robot collaborative (HRC) systems a complex and prone to error process. The use of time-based continuous simulations can offer safe virtual space for testing and validation thus easing the design of complex HRC systems. However, conventional simulations don't allow to experience the future production system as an end-user in an immersive environment. This paper explores the technological development in VR for design of human-centered production systems and develop a unified framework to combine human-robot simulation with VR. The simulation as an event-driven simulation helped in estimating the humanrobot cycle times, developing process plan, layout optimization and robot control program. The same simulation is used in VR to interact with the production equipment and particularly with the robot. Additionally, AWS Sumerian environment is used to create a virtual robot to assist VR user in the design process.

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“…The rigid, bulky form factor and wired interfaces of such systems can induce damage both to the skin (8) and to the devices; these systems also limit freedom in mobility. The pressure sensors in these and other cases rely on mechanisms that range from piezoresistive (9)(10)(11)(12)(13)(14)(15) and capacitive effects (15)(16)(17) that create passive changes to piezoelectric (18,19) and triboelectric (20,21) mechanisms that generate active electrical signals. Disadvantages include some combination of (i) operating pressure ranges (usually <100 kPa) that do not fully span those relevant to the socket-skin interface (up to 350 kPa) (12,(22)(23)(24); (ii) undesired hysteresis, drift, and nonlinearity over the full pressure range, particularly for those that rely on piezoresistive effects in soft composite materials (13,(25)(26)(27); and (iii) parasitic noise due to physical motions, prevalent in capacitive and triboelectric sensors.…”

Section: Introductionmentioning

confidence: 99%

“…Although commercial flexible pressure sensors for general applications support capabilities in pressure measurements, the operating ranges are not well matched to requirements for prostheses. In addition, their relatively large sizes and rigid packages lead to discomfort on the skin inside tight-fitting sockets (12,13). Furthermore, the physiological effects on the skin typically result not only from the effects of pressure but also from elevated temperature, accelerating negative effects on residual limb tissues.…”

Section: Introductionmentioning

confidence: 99%

Wireless sensors for continuous, multimodal measurements at the skin interface with lower limb prostheses

et al. 2020

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Precise form-fitting of prosthetic sockets is important for the comfort and well-being of persons with limb amputations. Capabilities for continuous monitoring of pressure and temperature at the skin-prosthesis interface can be valuable in the fitting process and in monitoring for the development of dangerous regions of increased pressure and temperature as limb volume changes during daily activities. Conventional pressure transducers and temperature sensors cannot provide comfortable, irritation-free measurements because of their relatively rigid construction and requirements for wired interfaces to external data acquisition hardware. Here, we introduce a millimeter-scale pressure sensor that adopts a soft, three-dimensional design that integrates into a thin, flexible battery-free, wireless platform with a built-in temperature sensor to allow operation in a noninvasive, imperceptible fashion directly at the skin-prosthesis interface. The sensor system mounts on the surface of the skin of the residual limb, in single or multiple locations of interest. A wireless reader module attached to the outside of the prosthetic socket wirelessly provides power to the sensor and wirelessly receives data from it, for continuous long-range transmission to a standard consumer electronic device such as a smartphone or tablet computer. Characterization of both the sensor and the system, together with theoretical analysis of the key responses, illustrates linear, accurate responses and the ability to address the entire range of relevant pressures and to capture skin temperature accurately, both in a continuous mode. Clinical application in two prosthesis users demonstrates the functionality and feasibility of this soft, wireless system.

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Implementation of tactile sensors on a 3-Fingers Robotiq® adaptive gripper and visualization in VR using Arduino controller

Cited by 15 publications

References 5 publications

Adaptive Underactuated Finger With Active Rolling Surface

Adaptive Underactuated Finger With Active Rolling Surface

Virtual reality in manufacturing: immersive and collaborative artificial-reality in design of human-robot workspace

Wireless sensors for continuous, multimodal measurements at the skin interface with lower limb prostheses

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