{"title":"无需触觉传感器的指尖接触检测和力估算,实现动力不足手的稳定抓取","authors":"Ha Thang Long Doan, Hikaru Arita, Kenji Tahara","doi":"10.1186/s40648-024-00273-3","DOIUrl":null,"url":null,"abstract":"Detecting contact when fingers are approaching an object and estimating the magnitude of the force the fingers are exerting on the object after contact are important tasks for a multi-fingered robotic hand to stably grasp objects. However, for a linkage-based under-actuated robotic hand with a self-locking mechanism to realize stable grasping without using external sensors, such tasks are difficult to perform when only analyzing the robot model or only applying data-driven methods. Therefore, in this paper, a hybrid of previous approaches is used to find a solution for realizing stable grasping with an under-actuated hand. First, data from the internal sensors of a robotic hand are collected during its operation. Subsequently, using the robot model to analyze the collected data, the differences between the model and real data are explained. From the analysis, novel data-driven-based algorithms, which can overcome noted challenges to detect contact between a fingertip and the object and estimate the fingertip forces in real-time, are introduced. The proposed methods are finally used in a stable grasp controller to control a triple-fingered under-actuated robotic hand to perform stable grasping. The results of the experiments are analyzed to show that the proposed algorithms work well for this task and can be further developed to be used for other future dexterous manipulation tasks.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":null,"pages":null},"PeriodicalIF":1.5000,"publicationDate":"2024-04-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Tactile sensor-less fingertip contact detection and force estimation for stable grasping with an under-actuated hand\",\"authors\":\"Ha Thang Long Doan, Hikaru Arita, Kenji Tahara\",\"doi\":\"10.1186/s40648-024-00273-3\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Detecting contact when fingers are approaching an object and estimating the magnitude of the force the fingers are exerting on the object after contact are important tasks for a multi-fingered robotic hand to stably grasp objects. However, for a linkage-based under-actuated robotic hand with a self-locking mechanism to realize stable grasping without using external sensors, such tasks are difficult to perform when only analyzing the robot model or only applying data-driven methods. Therefore, in this paper, a hybrid of previous approaches is used to find a solution for realizing stable grasping with an under-actuated hand. First, data from the internal sensors of a robotic hand are collected during its operation. Subsequently, using the robot model to analyze the collected data, the differences between the model and real data are explained. From the analysis, novel data-driven-based algorithms, which can overcome noted challenges to detect contact between a fingertip and the object and estimate the fingertip forces in real-time, are introduced. The proposed methods are finally used in a stable grasp controller to control a triple-fingered under-actuated robotic hand to perform stable grasping. The results of the experiments are analyzed to show that the proposed algorithms work well for this task and can be further developed to be used for other future dexterous manipulation tasks.\",\"PeriodicalId\":37462,\"journal\":{\"name\":\"ROBOMECH Journal\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":1.5000,\"publicationDate\":\"2024-04-05\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"ROBOMECH Journal\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1186/s40648-024-00273-3\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"INSTRUMENTS & INSTRUMENTATION\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"ROBOMECH Journal","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1186/s40648-024-00273-3","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"INSTRUMENTS & INSTRUMENTATION","Score":null,"Total":0}
Tactile sensor-less fingertip contact detection and force estimation for stable grasping with an under-actuated hand
Detecting contact when fingers are approaching an object and estimating the magnitude of the force the fingers are exerting on the object after contact are important tasks for a multi-fingered robotic hand to stably grasp objects. However, for a linkage-based under-actuated robotic hand with a self-locking mechanism to realize stable grasping without using external sensors, such tasks are difficult to perform when only analyzing the robot model or only applying data-driven methods. Therefore, in this paper, a hybrid of previous approaches is used to find a solution for realizing stable grasping with an under-actuated hand. First, data from the internal sensors of a robotic hand are collected during its operation. Subsequently, using the robot model to analyze the collected data, the differences between the model and real data are explained. From the analysis, novel data-driven-based algorithms, which can overcome noted challenges to detect contact between a fingertip and the object and estimate the fingertip forces in real-time, are introduced. The proposed methods are finally used in a stable grasp controller to control a triple-fingered under-actuated robotic hand to perform stable grasping. The results of the experiments are analyzed to show that the proposed algorithms work well for this task and can be further developed to be used for other future dexterous manipulation tasks.
期刊介绍:
ROBOMECH Journal focuses on advanced technologies and practical applications in the field of Robotics and Mechatronics. This field is driven by the steadily growing research, development and consumer demand for robots and systems. Advanced robots have been working in medical and hazardous environments, such as space and the deep sea as well as in the manufacturing environment. The scope of the journal includes but is not limited to: 1. Modeling and design 2. System integration 3. Actuators and sensors 4. Intelligent control 5. Artificial intelligence 6. Machine learning 7. Robotics 8. Manufacturing 9. Motion control 10. Vibration and noise control 11. Micro/nano devices and optoelectronics systems 12. Automotive systems 13. Applications for extreme and/or hazardous environments 14. Other applications