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Conference Paper: A Grasping Component Mapping Approach for Soft Robotic End-Effector Control

TitleA Grasping Component Mapping Approach for Soft Robotic End-Effector Control
Authors
KeywordsSoft Robotics
End effectors
Intuitive grasping control
Issue Date2019
PublisherIEEE. The Journal's web site is located at https://ieeexplore.ieee.org/xpl/conhome/8716494/proceeding
Citation
2019 2nd IEEE International Conference on Soft Robotics (RoboSoft2019), Soeul, Korea, 14-18 April 2018. In 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) How to Cite?
AbstractSoft robotic end-effectors with inherent compliance have excellent grasping adaptability and ensure safe human-robot interaction. The inherent compliance also limits structural dexterity in soft robotic systems and makes mathematical modeling difficult, therefore resulting in control challenges for existing soft robotic hands. To tackle these problems, we propose a general and intuitive control approach for various soft end-effectors with different kinematic structures. A grasping component based mapping approach is presented. This approach maps the essential human hand grasping components to robotic hand grasping components, without requiring a specific kinematic model per end-effector. A LMC-based human hand motion capturing system and multi-channel pneumatic actuation platform are accompanied to realize the intuitive control. The proposed intuitive control strategy does not require the human operator to wear any equipment or modify their natural hand behavior to match different end-effector structures. We demonstrate the efficacy of our control strategy with two, three, and four-fingered soft end-effectors. All static performances are depicted by photos in the experimental section and dynamic processes are in our accompanying video. The proposed approach provides an efficient solution to control various soft robotic hands and enhances the performance dexterity of soft robotic end-effectors.
Persistent Identifierhttp://hdl.handle.net/10722/274127
ISSN

 

DC FieldValueLanguage
dc.contributor.authorZhou, J-
dc.contributor.authorChen, X-
dc.contributor.authorChang, U-
dc.contributor.authorLiu, Y-
dc.contributor.authorChen, YH-
dc.contributor.authorWang, Z-
dc.date.accessioned2019-08-18T14:55:37Z-
dc.date.available2019-08-18T14:55:37Z-
dc.date.issued2019-
dc.identifier.citation2019 2nd IEEE International Conference on Soft Robotics (RoboSoft2019), Soeul, Korea, 14-18 April 2018. In 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)-
dc.identifier.issn978-1-5386-9260-8-
dc.identifier.urihttp://hdl.handle.net/10722/274127-
dc.description.abstractSoft robotic end-effectors with inherent compliance have excellent grasping adaptability and ensure safe human-robot interaction. The inherent compliance also limits structural dexterity in soft robotic systems and makes mathematical modeling difficult, therefore resulting in control challenges for existing soft robotic hands. To tackle these problems, we propose a general and intuitive control approach for various soft end-effectors with different kinematic structures. A grasping component based mapping approach is presented. This approach maps the essential human hand grasping components to robotic hand grasping components, without requiring a specific kinematic model per end-effector. A LMC-based human hand motion capturing system and multi-channel pneumatic actuation platform are accompanied to realize the intuitive control. The proposed intuitive control strategy does not require the human operator to wear any equipment or modify their natural hand behavior to match different end-effector structures. We demonstrate the efficacy of our control strategy with two, three, and four-fingered soft end-effectors. All static performances are depicted by photos in the experimental section and dynamic processes are in our accompanying video. The proposed approach provides an efficient solution to control various soft robotic hands and enhances the performance dexterity of soft robotic end-effectors.-
dc.languageeng-
dc.publisherIEEE. The Journal's web site is located at https://ieeexplore.ieee.org/xpl/conhome/8716494/proceeding-
dc.relation.ispartof2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)-
dc.rights2019 2nd IEEE International Conference on Soft Robotics (RoboSoft). Copyright © IEEE.-
dc.rights©20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.-
dc.subjectSoft Robotics-
dc.subjectEnd effectors-
dc.subjectIntuitive grasping control-
dc.titleA Grasping Component Mapping Approach for Soft Robotic End-Effector Control-
dc.typeConference_Paper-
dc.identifier.emailChen, YH: yhchen@hkucc.hku.hk-
dc.identifier.emailWang, Z: zwangski@hku.hk-
dc.identifier.authorityChen, YH=rp00099-
dc.identifier.authorityWang, Z=rp01915-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/ROBOSOFT.2019.8722773-
dc.identifier.scopuseid_2-s2.0-85067109343-
dc.identifier.hkuros301406-
dc.publisher.placeUnited States-

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