Safe Grasping with a Force Controlled Soft Robotic Hand

Tran Nguyen Le*, Jens Lundell, Ville Kyrki

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

Abstract

Safe yet stable grasping requires a robotic hand to apply sufficient force on the object to immobilize it while keeping it from getting damaged. Soft robotic hands have been proposed for safe grasping due to their passive compliance, but even such a hand can crush objects if the applied force is too high. Thus for safe grasping, regulating the grasping force is of uttermost importance even with soft hands. In this work, we present a force controlled soft hand and use it to achieve safe grasping. To this end, resistive force and bend sensors are integrated in a soft hand, and a data-driven calibration method is proposed to estimate contact interaction forces. Given the force readings, the pneumatic pressures are regulated using a proportional-integral controller to achieve desired force. The controller is experimentally evaluated and benchmarked by grasping easily deformable objects such as plastic and paper cups without neither dropping nor deforming them. Together, the results demonstrate that our force controlled soft hand can grasp deformable objects in a safe yet stable manner.
Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020
PublisherIEEE
Pages342-349
Number of pages8
ISBN (Electronic)978-1-7281-8526-2
DOIs
Publication statusPublished - 14 Dec 2020
MoE publication typeA4 Article in a conference publication
EventIEEE International Conference on Systems, Man, and Cybernetics - Virtual, Online
Duration: 11 Oct 202014 Oct 2020

Publication series

NameIEEE International Conference on Systems, Man, and Cybernetics
PublisherIEEE
ISSN (Print)2163-9590
ISSN (Electronic)2380-1360

Conference

ConferenceIEEE International Conference on Systems, Man, and Cybernetics
Abbreviated titleSMC
CityVirtual, Online
Period11/10/202014/10/2020

Keywords

  • Soft robotics
  • Grasping
  • Bio-Robotics Systems

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