Conformal grasping using feedback controlled bubble actuator array

Wei Carrigan; Richard Stein; Manoj Mittal; Muthu B. J. Wijesundara

doi:10.1117/12.2058253

4 June 2014 Conformal grasping using feedback controlled bubble actuator array

Wei Carrigan, Richard Stein, Manoj Mittal, Muthu B. J. Wijesundara

Proceedings Volume 9116, Next-Generation Robots and Systems; 911607 (2014) https://doi.org/10.1117/12.2058253
Event: SPIE Sensing Technology + Applications, 2014, Baltimore, MD, United States

Abstract

This paper presents an implementation of a bubble actuator array (BAA) based active robotic skin, a modular system, onto existing low cost robotic end-effectors or prosthetic hands for conformal grasping of objects. The active skin is comprised of pneumatically controlled polyurethane rubber bubbles with overlaid sensors for feedback control. Sensor feedback allows the BAA based robotic skin to conformally grasp an object with an explicit uniform force distribution. The bubble actuator array reported here is capable of applying up to 4N of force at each point of contact and tested for conformally grasping objects with a radius of curvature up to 57.15mm. Once integrated onto a two-finger gripper with one degree of freedom (DOF), the active skin was shown to reduce point of contact forces of up to 50% for grasped objects.

Citation Download Citation

Wei Carrigan, Richard Stein, Manoj Mittal, and Muthu B. J. Wijesundara "Conformal grasping using feedback controlled bubble actuator array", Proc. SPIE 9116, Next-Generation Robots and Systems, 911607 (4 June 2014); https://doi.org/10.1117/12.2058253

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