A compliant self-adaptive gripper with proprioceptive haptic feedback

被引：34

作者：

Belzile, Bruno ^{[1
]}

Birglen, Lionel ^{[1
]}

机构：

[1] Ecole Polytech, Dept Mech Engn, Montreal, PQ H3C 3A7, Canada

来源：

AUTONOMOUS ROBOTS | 2014年 / 36卷 / 1-2期

基金：

加拿大自然科学与工程研究理事会;

关键词：

Grasping; Underactuation; Haptics; Compliant mechanism; HYSTERESIS; DESIGN; HAND;

D O I：

10.1007/s10514-013-9360-1

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Grippers and robotic hands are an important field in robotics. Recently, the combination of grasping devices and haptic feedback has been a promising avenue for many applications such as laparoscopic surgery and spatial telemanipulation. This paper presents the work behind a new self-adaptive, a.k.a. underactuated, gripper with a proprioceptive haptic feedback in which the apparent stiffness of the gripper as seen by its actuator is used to estimate contact location. This system combines many technologies and concepts in an integrated mechatronic tool. Among them, underactuated grasping, haptic feedback, compliant joints and a differential seesaw mechanism are used. Following a theoretical modeling of the gripper based on the virtual work principle, the authors present numerical data used to validate this model. Then, a presentation of the practical prototype is given, discussing the sensors, controllers, and mechanical architecture. Finally, the control law and the experimental validation of the haptic feedback are presented.

引用

页码：79 / 91

页数：13

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