Investigation of piezoresistive sensor for robotic gripping operations

Various types of tactile pressure sensors in robotic grasping operations have been effectively implemented in robotic hand fields. Some useful approaches of these tactile sensors are briefly discussed in this study based on their robotic hand applications. A robotic hand model is also designed to employ the tactile sensors that have recorded the information that is collected through the physical interaction between the pressure sensors and the object. This study has practically investigated the response of the piezoresistive pressure sensor during the object gripping operations in different weights. Empirical results have proven that the piezoresistive pressure sensor is the proper technique that can be implemented in robotic hand applications. The correlation between the input force and the output volt has been experimentally derived to achieve the efficient gripping operation

Re-gripping analysis based on implementation of slip-detection device for robotic hand model

To develop an intelligent robotic hand, diverse approaches have been applied, including optimum gripping force and slippage analysis. In this study, a robotic hand was modeled with tactile pressure sensors. The slip detection sensor, which is represented as a rotary encoder device, was employed to indicate the slip situation features, distance and velocity. Empirical findings imply that the correlation between the distance that an object has slipped and the required re-gripping force was developed to be availed as an automatic feedback algorithm. The slippage events were revealed and analyzed to perform the control system mechanism of the re-gripping mission

Gripping an object based on inspection of slip events for a robotic hand model

An effective grasping operation is required in intelligent robotic hands to address the well-known challenge that occurs during the gripping process. One of the most important issues is detecting and addressing the slip situation; otherwise, stable grasps will not be achieved properly. This study investigated robotic re-gripping operations based on slip event indication. Tactile pressure sensors are utilized to discover the physical interaction between robotic claws and a particular object during the gripping operation. Slip signal detection is executed by implementing a rotary encoder device that was provided in a robotic hand model. The robotic system has attempted to accomplish the re-gripping mission autonomously. Therefore, an automatic feedback control algorithm is developed to perform re-gripping tasks based on the distance at which an object has slipped. Experimental findings present the correlation between the required forces for an object to re-grip securely and the distance at which an object has slipped. This approach was demonstrated as Hooke’s law

Gripping controller design for a one-degree-of-freedom robotic hand model based on slip detection

Robotic hands are considered mechatronic instruments that have the ability to perform activities beyond human capabilities. Robotic hands are widely used in manufacturing and dangerous nuclear industries as well as in precise applications, such as military or medical implementations. Repetitive and maintenance tasks are achieved with high accuracy when robotic hands are used. Consequently, the evolution of robotic hands is necessary to cover a wide range of tasks and by adding sensors, the grasping force can be measured and detected when the object slips. Measuring the grasping force between the robotic hand and an object can be achieved by using Force-Sensing Resistor (FSR), which have been widely used in robotics applications. Although this type of sensor has good features to handle diferent objects, the robotic hands that are currently using this sensor have never mentioned the object slipping feature during grasping operation. Slip sensing is signifcant in advance robotic manipulation. Therefore, this research has paid attention in the slipping detection process that occurs after gripping operation as well as the re-gripping of the object. The proposed work focuses on detecting the slip of the object and measuring the features of this slippage, such as distance and velocity. In this study, the robotic hand model employs an accelerometer sensor to detect the acceleration signal of the object during slippage. Furthermore, a common type of rotary encoder device is used to measure the distance of the slipping situation and velocity. A circuit is designed and implemented to collect the data of the sensors that would be analyzed. The robotic hand system comprises a new algorithm for data extraction and signal processing analysis that are measured from an object re-gripping operation based on slip detection information. The experimental works have concentrated on gripping an object with diferent weights (from 0.4118 N to 3.187 N) and detecting the slip situation to securely re-grip the object. The empirical findings have presented the output voltage of the FSR is directly proportional to the weight of the object, the minimum and maximum measured voltage are 0.209 V and 2.093 V respectively. In addition, the experimental results determine the subsequent re-gripping control mission based on slip events. The control system of an object re-gripping task is represented in Hooke's Law that estimates the required re-gripping force based on the distance of the object has slipped. The K values for accelerometer and rotary encoder are 0.0535+0.028 and 0.056+0.01 respectively. This conclude that the rotary encoder is better for slip detection in this robotic hand mode