An AI-Assisted and Self-Powered Smart Robotic Gripper Based on Eco-EGaIn Nanocomposite for Pick-and-Place Operation
High compliance and muscle-alike soft robotic grippers have shown promising performance in addressing the challenges in traditional rigid grippers. Nevertheless, a lack of control feedback (gasping speed and contact force) in a grasping operation can result in undetectable slipping and false positio...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-04-01
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| Series: | Nanomaterials |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2079-4991/12/8/1317 |
| _version_ | 1797444505133121536 |
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| author | Qi-Lun Goh Pei-Song Chee Eng-Hock Lim Danny Wee-Kiat Ng |
| author_facet | Qi-Lun Goh Pei-Song Chee Eng-Hock Lim Danny Wee-Kiat Ng |
| author_sort | Qi-Lun Goh |
| collection | DOAJ |
| description | High compliance and muscle-alike soft robotic grippers have shown promising performance in addressing the challenges in traditional rigid grippers. Nevertheless, a lack of control feedback (gasping speed and contact force) in a grasping operation can result in undetectable slipping and false positioning. In this study, a pneumatically driven and self-powered soft robotic gripper that can recognize the grabbed object is reported. We integrated pressure (P-TENG) and bend (B-TENG) triboelectric sensors into a soft robotic gripper to transduce the features of gripped objects in a pick-and-place operation. Both the P-TENG and B-TENG sensors are fabricated using a porous structure made of soft Ecoflex and Euthethic Gallium-Indium nanocomposite (Eco-EGaIn). The output voltage of this porous setup has been improved by 63%, as compared to the non-porous structure. The developed soft gripper successfully recognizes three different objects, cylinder, cuboid, and pyramid prism, with a good accuracy of 91.67% and has shown its potential to be beneficial in the assembly lines, sorting, VR/AR application, and education training. |
| first_indexed | 2024-03-09T13:12:34Z |
| format | Article |
| id | doaj.art-6651c1fba1494c45a069fd0d1ab4ce5d |
| institution | Directory Open Access Journal |
| issn | 2079-4991 |
| language | English |
| last_indexed | 2024-03-09T13:12:34Z |
| publishDate | 2022-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Nanomaterials |
| spelling | doaj.art-6651c1fba1494c45a069fd0d1ab4ce5d2023-11-30T21:39:52ZengMDPI AGNanomaterials2079-49912022-04-01128131710.3390/nano12081317An AI-Assisted and Self-Powered Smart Robotic Gripper Based on Eco-EGaIn Nanocomposite for Pick-and-Place OperationQi-Lun Goh0Pei-Song Chee1Eng-Hock Lim2Danny Wee-Kiat Ng3Department of Mechatronics and Biomedical Engineering, Lee Kong Chian Faculty of Engineering and Science, Universiti Tunku Abdul Rahman, Bandar Sungai Long, Kajang 43000, Selangor, MalaysiaDepartment of Mechatronics and Biomedical Engineering, Lee Kong Chian Faculty of Engineering and Science, Universiti Tunku Abdul Rahman, Bandar Sungai Long, Kajang 43000, Selangor, MalaysiaDepartment of Electrical and Electronic Engineering, Lee Kong Chian Faculty of Engineering and Science, Universiti Tunku Abdul Rahman, Bandar Sungai Long, Kajang 43000, Selangor, MalaysiaDepartment of Mechatronics and Biomedical Engineering, Lee Kong Chian Faculty of Engineering and Science, Universiti Tunku Abdul Rahman, Bandar Sungai Long, Kajang 43000, Selangor, MalaysiaHigh compliance and muscle-alike soft robotic grippers have shown promising performance in addressing the challenges in traditional rigid grippers. Nevertheless, a lack of control feedback (gasping speed and contact force) in a grasping operation can result in undetectable slipping and false positioning. In this study, a pneumatically driven and self-powered soft robotic gripper that can recognize the grabbed object is reported. We integrated pressure (P-TENG) and bend (B-TENG) triboelectric sensors into a soft robotic gripper to transduce the features of gripped objects in a pick-and-place operation. Both the P-TENG and B-TENG sensors are fabricated using a porous structure made of soft Ecoflex and Euthethic Gallium-Indium nanocomposite (Eco-EGaIn). The output voltage of this porous setup has been improved by 63%, as compared to the non-porous structure. The developed soft gripper successfully recognizes three different objects, cylinder, cuboid, and pyramid prism, with a good accuracy of 91.67% and has shown its potential to be beneficial in the assembly lines, sorting, VR/AR application, and education training.https://www.mdpi.com/2079-4991/12/8/1317soft-robotic gripperself-powered composite sensorspick and place operation |
| spellingShingle | Qi-Lun Goh Pei-Song Chee Eng-Hock Lim Danny Wee-Kiat Ng An AI-Assisted and Self-Powered Smart Robotic Gripper Based on Eco-EGaIn Nanocomposite for Pick-and-Place Operation Nanomaterials soft-robotic gripper self-powered composite sensors pick and place operation |
| title | An AI-Assisted and Self-Powered Smart Robotic Gripper Based on Eco-EGaIn Nanocomposite for Pick-and-Place Operation |
| title_full | An AI-Assisted and Self-Powered Smart Robotic Gripper Based on Eco-EGaIn Nanocomposite for Pick-and-Place Operation |
| title_fullStr | An AI-Assisted and Self-Powered Smart Robotic Gripper Based on Eco-EGaIn Nanocomposite for Pick-and-Place Operation |
| title_full_unstemmed | An AI-Assisted and Self-Powered Smart Robotic Gripper Based on Eco-EGaIn Nanocomposite for Pick-and-Place Operation |
| title_short | An AI-Assisted and Self-Powered Smart Robotic Gripper Based on Eco-EGaIn Nanocomposite for Pick-and-Place Operation |
| title_sort | ai assisted and self powered smart robotic gripper based on eco egain nanocomposite for pick and place operation |
| topic | soft-robotic gripper self-powered composite sensors pick and place operation |
| url | https://www.mdpi.com/2079-4991/12/8/1317 |
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