Robotic pinching by means of a pair of soft fingers with sensory feedback

H. Y. Han, S. Arimoto, K. Tahara, M. Yamaguchi, P. T.A. Nguyen

Research output: Contribution to journalArticle

23 Citations (Scopus)

Abstract

This paper proposes a pair of single or multi D.O.F. robot fingers with soft and deformable tips that can pinch an object stably in a dynamic sense with the aid of real-time sensory feedback. To realize dynamic stable pinching, a practical method of using optical devices is proposed for measuring both the maximum displacement of finger-tip deformation and the relative angle between the object surface and each of finger links. It is shown theoretically and by computer simulation that the overall closed-loop system of a pair of two single-D.O.F. fingers with soft tips with real-time sensory feedback of the difference between centers of two area-contacts at both sides of the object becomes asymptotically stable. This means that the pair achieves dynamic stable grasping (pinching). In the case of a pair of 1 D.O.F. and 2 D.O.F. fingers with soft tips, it is shown that the proposed method of closed-loop feedback of the difference between centers of two area-contacts and the rotational angle of the object can establish not only dynamic stable grasping but also regulation of the posture of the object.

Original languageEnglish
Pages (from-to)97-102
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
DOIs
Publication statusPublished - Jan 1 2001
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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