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Autonomous Robots

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01-01-2014

A compliant self-adaptive gripper with proprioceptive haptic feedback

Authors: Bruno Belzile, Lionel Birglen

Published in: Autonomous Robots | Issue 1-2/2014

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Abstract

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.

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Title: A compliant self-adaptive gripper with proprioceptive haptic feedback
Authors: Bruno Belzile
Lionel Birglen
Publication date: 01-01-2014
Publisher: Springer US
Published in: Autonomous Robots / Issue 1-2/2014
Print ISSN: 0929-5593
Electronic ISSN: 1573-7527
DOI: https://doi.org/10.1007/s10514-013-9360-1

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Other articles of this Issue 1-2/2014

Special issue on autonomous grasping and manipulation

Design and control of a three-fingered tendon-driven robotic hand with active and passive tendons

An active sensing strategy for contact location without tactile sensors using robot geometry and kinematics

An autonomous manipulation system based on force control and optimization

Foreword to the special issue on autonomous grasping and manipulation

A variable compliance, soft gripper