Active contact enhancements with stretchable soft layers and piezoresistive tactile array for robotic grippers∗

Godwin Ponraj, A. V. Prituja, Changsheng Li, A. Bamotra, Zhu Guoniu, S. K. Kirthika, Nitish V. Thakor, Alcimar B. Soares, Hongliang Ren

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Intensive research in sensors and human-robot interactions has made the social presence of robots safer and more acceptable. In any interaction of the robot with its surroundings, it is important to establish proper contact with the object to ensure complete control over its manipulation. The sense of touch and perception play a vital role to close the feedback loop of contact modulations. This paper discusses the design and development of a novel hybrid sensorized soft-matter structure which has active contact modulation capabilities to ensure better and firm contact in rigid robotic grippers. An integrated multi-taxel piezoresistive tactile sensor which can confer to both rigid and soft surfaces easily was developed as a feedback device. Experimental observations show enhancement in grip and demonstrate a simple slip detection routine under dynamic load condition successfully.

Original languageEnglish (US)
Title of host publication2019 IEEE 15th International Conference on Automation Science and Engineering, CASE 2019
PublisherIEEE Computer Society
Pages1808-1813
Number of pages6
ISBN (Electronic)9781728103556
DOIs
StatePublished - Aug 1 2019
Externally publishedYes
Event15th IEEE International Conference on Automation Science and Engineering, CASE 2019 - Vancouver, Canada
Duration: Aug 22 2019Aug 26 2019

Publication series

NameIEEE International Conference on Automation Science and Engineering
Volume2019-August
ISSN (Print)2161-8070
ISSN (Electronic)2161-8089

Conference

Conference15th IEEE International Conference on Automation Science and Engineering, CASE 2019
CountryCanada
CityVancouver
Period8/22/198/26/19

Keywords

  • Contact modulation
  • Piezoresistive tactile sensor
  • Soft-Hard Hybrid Robotic Finger

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Ponraj, G., Prituja, A. V., Li, C., Bamotra, A., Guoniu, Z., Kirthika, S. K., Thakor, N. V., Soares, A. B., & Ren, H. (2019). Active contact enhancements with stretchable soft layers and piezoresistive tactile array for robotic grippers∗. In 2019 IEEE 15th International Conference on Automation Science and Engineering, CASE 2019 (pp. 1808-1813). [8842882] (IEEE International Conference on Automation Science and Engineering; Vol. 2019-August). IEEE Computer Society. https://doi.org/10.1109/COASE.2019.8842882