DexiTac: Soft Dexterous Tactile Gripping
IEEE/ASME Transactions on Mechatronics(2024)
Abstract
Grasping object,whether they are flat, round, or narrow and whether they have
regular or irregular shapes,introduces difficulties in determining the ideal
grasping posture, even for the most state-of-the-art grippers. In this article,
we presented a reconfigurable pneumatic gripper with fingers that could be set
in various configurations, such as hooking, supporting, closuring, and
pinching. Each finger incorporates a dexterous joint, a rotating joint, and a
customized plug-and-play visuotactile sensor, the DigiTac-v1.5, to control
manipulation in real time. We propose a tactile kernel density manipulation
strategy for simple and versatile control, including detecting grasp stability,
responding to disturbances and guiding dexterous manipulations. We develop a
double closed-loop control system that separately focuses on secure grasping
and task management, demonstrated with tasks that highlight the capabilities
above. The gripper is relatively easy to fabricate and customize, offering a
promising and extensible way to combine soft dexterity and tactile sensing for
diverse applications in robotic manipulation.
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Key words
Dexterous manipulation,disturbance response,grasping,reconfigurable,visuotactile sensing
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