Flexible Electronic Skin for Monitoring of Grasping State During Robotic Manipulation.

Journal: Soft robotics
Published Date: Aug 26, 2022

Abstract

Electronic skin for robotic tactile sensing has been studied extensively over the past years, yet practical applications of electronic skin for the grasping state monitoring during robotic manipulation are still limited. In this study, we present the fabrication and implementation of electronic skin sensor arrays for the detection of unstable grasping. The piezoresistive sensor arrays have the advantages of facile fabrication, fast response, and high reliability. With the tactile data from the sensor array, we propose two quantitative indicators, correlation coefficient and wavelet coefficient, to identify grasping with variable forces and slippage. Those two indicators reflect both time and frequency domain characteristics in the contact forces from the sensor array and can be obtained without large amount of calculation. We demonstrate the utility of this method under various conditions, the results indicate grasping with variable forces, and slippage can be distinguished by this method. The flexible sensor arrays are adopted for tactile sensing on a bionic hand, and the effectiveness of this method in detecting various grasping states has been verified. The electronic skin sensor array and the grasping state monitoring method are promising for applications in robotic dexterous manipulation.

Authors

  • Lusheng Bao
    State Key Laboratory of Digital Manufacturing Equipment and Technology, Flexible Electronics Research Center, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China.
  • Cheng Han
    State Key Laboratory of Polymer Materials Engineering, Polymer Research Institute, Sichuan University, Chengdu, 610065, China.
  • Guolin Li
    Intelligent Manufacturing Research Center, Guangdong Midea Air-Conditioning Equipment Co., Ltd, Foshan, China.
  • Jun Chen
    Department of Bioengineering, University of California, Los Angeles, Los Angeles, CA 90095, USA.
  • Wenqiang Wang
    Intelligent Manufacturing Research Center, Guangdong Midea Air-Conditioning Equipment Co., Ltd, Foshan, China.
  • Hao Yang
    College of Agricultural Science and Engineering, Hohai University, Nanjing 210098, China.
  • Xin Huang
    Department of ophthalmology, Jiangxi Provincial People's Hospital, The First Affiliated Hospital of Nanchang Medical College, Nanchang, China.
  • Jiajie Guo
    State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China.
  • Hao Wu
    Zhejiang Institute of Tianjin University (Shaoxing), Shaoxing, China.

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