A Simple Electric Soft Robotic Gripper with High-Deformation Haptic Feedback
Name
icra2019__v4.pdf
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3.72 MB
Format
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Author(s)
Chin, Lillian T.
Yuen, Michelle C.
Lipton, Jeffrey I
Trueba, Luis H.
Kramer-Bottiglio, Rebecca
Rus, Daniela L
Date Issued
May 2019
Journal
IEEE International Conference on Robotics and Automation
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Chin, Lillian et al. "A Simple Electric Soft Robotic Gripper with High-Deformation Haptic Feedback." IEEE International Conference on Robotics and Automation, May 2019, Montreal, Canada, Institute of Electrical and Electronics Engineers (IEEE), May 2019 © 2019 IEEE Robotics & Automation Society
Version
Author's final manuscript
Abstract
Compliant robotic grippers are more robust to uncertainties in grasping and manipulation tasks, especially when paired with tactile and proprioceptive feedback. Although considerable progress has been made towards achieving proprioceptive soft robotic grippers, current efforts require complex driving hardware or fabrication techniques. In this paper, we present a simple scalable soft robotic gripper integrated with high-deformation strain and pressure sensors. The gripper is composed of structurally-compliant handed shearing auxetic structures actuated by electric motors. Coupling deformable sensors with the compliant grippers enables gripper proprioception and object classification. With this sensorized system, we are able to identify objects’ size to within 33% of actual radius and sort objects as hard / soft with 78% accuracy.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
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Creative Commons Attribution-Noncommercial-Share Alike
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DOI of Published Version
https://ras.papercept.net/conferences/conferences/ICRA19/program/ICRA19_ContentListWeb_1.html#moc1-12_04
