Empowering Particle Jamming Soft Gripper with Tactility via Stretchable Optoelectronic Sensing Skin

Mo, Liyan1; Xie, Wenhao1; Qu, Jingting1; Xia, Jiutian1; Li, Yunquan1; Zhang, Yuanfang1; Ren, Tao2; Yang, Yang3; Yi, Juan4; Wu, Changchun5; Chen, Yonghua5

2024-08-01

10.1002/aisy.202400285

ADVANCED INTELLIGENT SYSTEMS   影响因子和分区

2640-4567

["Particle-jamming soft grippers demonstrate notable shape adaptability and adjustable stiffness, which improve their grasping efficiency. However, integrating tactile sensing into these grippers presents challenges due to the specific properties of the particle jamming mechanism. This study introduces a parallel particle jamming soft gripper equipped with tactile sensing capabilities. The gripper consists of two tactile sensing particle jamming pads (TSPJPs) that are integrated with flexible optoelectronic skins. These skins are made of silicone rubber membranes and are embedded with a 3 x 3 array of stretchable optical waveguide arrays (SOWAs). Testing indicates that incorporating these sensors enhances the gripper's tactile sensing capabilities, with minimal impact on its particle jamming-based grasping function. A single TSPJP can accurately detect various contact points and estimate the contract forces. The proposed soft gripper can reliably grasp a wide range of objects, varying in shape, hardness, and weight, and it provides detailed tactile feedback on contact locations and the intensity of the grasping through the SOWA sensor. It can precisely distinguish between different grasping postures using a light gradient boosting machine (LightGBM) learning model. Furthermore, it can effectively detect the slippage of grasped objects, facilitating accurate closed-loop control for secure manipulation.","A particle-jamming soft gripper with both tactility and shape-adaptive ability has been developed. The soft gripper has a tactile sensing soft skin integrated with a 3 x 3 highly stretchable optical waveguide array (SOWA) sensor. Contact position detection, contact force prediction, grasping postures recognition, and slip detection can be achieved when the soft gripper grasps diverse objects using an intelligent system.image (c) 2024 WILEY-VCH GmbH"]

optoelectronic sensing skin particle jamming gripper stretchable optical waveguide sensor tactile sensing

SCI ; EI

英语

其他

Guang Dong Basic and Applied Basic Research Foundation[2022A1515110067] ; Guangzhou basic and applied basic research project[2023A04J1583]

Automation & Control Systems ; Computer Science ; Robotics

Automation & Control Systems ; Computer Science, Artificial Intelligence ; Robotics

WOS:001288370600001

WILEY

Web of Science

1.South China Univ Technol, Shien Ming Wu Sch Intelligent Engn, Guangzhou 511442, Peoples R China
2.Chengdu Univ Technol, Sch Mech & Elect Engn, Chengdu 610059, Peoples R China
3.Nanjing Univ Informat Sci & Technol, Sch Automat, Nanjing 210044, Peoples R China
4.Southern Univ Sci & Technol, Dept Mech & Energy Engn, Shenzhen 518055, Peoples R China
5.Univ Hong Kong, Dept Mech Engn, Hong Kong 999077, Peoples R China

Mo, Liyan,Xie, Wenhao,Qu, Jingting,et al. Empowering Particle Jamming Soft Gripper with Tactility via Stretchable Optoelectronic Sensing Skin[J]. ADVANCED INTELLIGENT SYSTEMS,2024.

Mo, Liyan.,Xie, Wenhao.,Qu, Jingting.,Xia, Jiutian.,Li, Yunquan.,...&Chen, Yonghua.(2024).Empowering Particle Jamming Soft Gripper with Tactility via Stretchable Optoelectronic Sensing Skin.ADVANCED INTELLIGENT SYSTEMS.

Mo, Liyan,et al."Empowering Particle Jamming Soft Gripper with Tactility via Stretchable Optoelectronic Sensing Skin".ADVANCED INTELLIGENT SYSTEMS (2024).