Soft-smart robotic end effectors with sensing, actuation, and gripping capabilities
作者: Chaoqun XiangJianglong GuoJonathan Rossiter
作者单位: 1SoftLab, Bristol Robotics Laboratory, University of Bristol, Bristol, United Kingdom
刊名: Smart Materials and Structures, 2019, Vol.28 (5)
来源数据库: Institute of Physics Journal
DOI: 10.1088/1361-665X/ab1176
原始语种摘要: Soft and smart robotic end effectors with integrated sensing, actuation, and gripping capabilities are important for autonomous and intelligent grasping and manipulation of difficult-to-handle and delicate materials. Grasping and actuation are challenging to achieve if using only one opto-mechanical tactile sensor. It is highly desirable to equip these useful sensors with multimodal actuation and gripping functionalities. Current electroadhesive (EA) grippers, however, cannot differentiate object size and shape, nor can they grasp concave or convex objects. In this paper, we present TacEA, an integration of a pneumatically actuated visio-tactile (TacTip) sensor and a stretchable EA pad, resulting in a monolithic soft-smart robotic end effector with concomitant sensing, actuation, and...
全文获取路径: IOP  (合作)
影响因子:2.024 (2012)

  • gripping 咬入
  • actuation 动作
  • smart 修]灵巧[便,敏
  • sensing 感觉
  • grasp 抓住
  • tactile 触觉的
  • effector 效应器效应物
  • concave 凹的
  • pneumatically 气压地
  • monolithic 整体式