Abstract
This paper focuses on how to improve the operation ability of a soft robotic hand (SRH). A trigger-based dexterous operation (TDO) strategy with multimodal sensors is proposed to perform autonomous choice operations. The multimodal sensors include optical-based fiber curvature sensor (OFCS), gas pressure sensor (GPS), capacitive pressure contact sensor (CPCS), and resistance pressure contact sensor (RPCS). The OFCS embedded in the soft finger and the GPS series connected in the gas channel are used to detect the curvature of the finger. The CPCS attached on the fingertip and the RPCS attached on the palm are employed to detect the touch force. The framework of TDO is divided into sensor detection and action operation. Hardware layer, information acquisition layer, and decision layer form the sensor detection module; action selection layer, actuator drive layer, and hardware layer constitute the action operation module. An autonomous choice decision unit is used to connect the sensor detecting module and action operation module. The experiment results reveal that the TDO algorithm is effective and feasible, and the actions of grasping plastic framework, pinching roller ball pen and screwdriver, and handshake are executed exactly.
Highlights
Dexterous operation is one of the important abilities for a robotic hand to interact with the external environment [1,2,3,4,5,6]
The principle of the optical-based fiber curvature sensor (OFCS) is based on light energy loss; the light is emitted from the gap on the roughened optical fiber when the soft finger is bent
We develop dexterous operation for an soft robotic hand (SRH) with multimodal sensors to improve the operation ability of the SRH
Summary
Dexterous operation is one of the important abilities for a robotic hand to interact with the external environment [1,2,3,4,5,6]. Deimel and Brock designed a compliant and underactuated robotic hand to perform dexterous grasping [12,13]. Devi et al [18] designed a novel underactuated multifingered SRH for prosthetics to grasp multiple objects. These SRHs lacked sensors and sensing ability, which limited the dexterity of operation. To address this issue, Zhao et al [19] developed an optoelectronically innervated soft prosthetic hand via stretchable optical waveguides that were fabricated with two soft silicone composites with different refractive indexes. The main contribution of the work is to add different sensors on the SRH to realize the multimodal dexterous operation.
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