Soft Gripper with EGaIn Soft Sensor for Detecting Grasp Status
With the Fourth Industrial Revolution, many factories aim for efficient mass production, and robots are being used to reduce human workloads. In recent years, the field of gripper robots with a soft structure that can grip and move objects without damaging them has attracted considerable attention....
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-07-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/11/15/6957 |
| _version_ | 1827686655891341312 |
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| author | Geun-Sik Cho Yong-Jai Park |
| author_facet | Geun-Sik Cho Yong-Jai Park |
| author_sort | Geun-Sik Cho |
| collection | DOAJ |
| description | With the Fourth Industrial Revolution, many factories aim for efficient mass production, and robots are being used to reduce human workloads. In recent years, the field of gripper robots with a soft structure that can grip and move objects without damaging them has attracted considerable attention. This paper proposes a variable-stiffness soft gripper, based on previous designs, with an added silicone coating for increased friction and an EGaIn soft sensor for monitoring grip forces. The variable-stiffness structure used in this study was constructed by connecting soft structures to rigid structures and using tendons fixed to the rigid structures. Furthermore, a more responsive EGaIn soft sensor compared to existing sensors was designed by adding bumps to the path traced by the alloy. After selecting the appropriate fingertip shape, changes in the output of the EGaIn soft sensor corresponding to the object held by the soft gripper were observed, confirming that the strength of the device could be changed according to the intended purpose. |
| first_indexed | 2024-03-10T09:18:54Z |
| format | Article |
| id | doaj.art-7d16d5bcb0da4e018a2498ba8b0d0fe3 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T09:18:54Z |
| publishDate | 2021-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-7d16d5bcb0da4e018a2498ba8b0d0fe32023-11-22T05:22:13ZengMDPI AGApplied Sciences2076-34172021-07-011115695710.3390/app11156957Soft Gripper with EGaIn Soft Sensor for Detecting Grasp StatusGeun-Sik Cho0Yong-Jai Park1Robot & Mechanism Lab, Biohealth-Machinery Convergence Engineering, Kangwon National University, Chuncheon 24341, KoreaRobot & Mechanism Lab, Biohealth-Machinery Convergence Engineering, Kangwon National University, Chuncheon 24341, KoreaWith the Fourth Industrial Revolution, many factories aim for efficient mass production, and robots are being used to reduce human workloads. In recent years, the field of gripper robots with a soft structure that can grip and move objects without damaging them has attracted considerable attention. This paper proposes a variable-stiffness soft gripper, based on previous designs, with an added silicone coating for increased friction and an EGaIn soft sensor for monitoring grip forces. The variable-stiffness structure used in this study was constructed by connecting soft structures to rigid structures and using tendons fixed to the rigid structures. Furthermore, a more responsive EGaIn soft sensor compared to existing sensors was designed by adding bumps to the path traced by the alloy. After selecting the appropriate fingertip shape, changes in the output of the EGaIn soft sensor corresponding to the object held by the soft gripper were observed, confirming that the strength of the device could be changed according to the intended purpose.https://www.mdpi.com/2076-3417/11/15/6957variable stiffnessgrippersoft roboticsEGaIn soft sensor |
| spellingShingle | Geun-Sik Cho Yong-Jai Park Soft Gripper with EGaIn Soft Sensor for Detecting Grasp Status Applied Sciences variable stiffness gripper soft robotics EGaIn soft sensor |
| title | Soft Gripper with EGaIn Soft Sensor for Detecting Grasp Status |
| title_full | Soft Gripper with EGaIn Soft Sensor for Detecting Grasp Status |
| title_fullStr | Soft Gripper with EGaIn Soft Sensor for Detecting Grasp Status |
| title_full_unstemmed | Soft Gripper with EGaIn Soft Sensor for Detecting Grasp Status |
| title_short | Soft Gripper with EGaIn Soft Sensor for Detecting Grasp Status |
| title_sort | soft gripper with egain soft sensor for detecting grasp status |
| topic | variable stiffness gripper soft robotics EGaIn soft sensor |
| url | https://www.mdpi.com/2076-3417/11/15/6957 |
| work_keys_str_mv | AT geunsikcho softgripperwithegainsoftsensorfordetectinggraspstatus AT yongjaipark softgripperwithegainsoftsensorfordetectinggraspstatus |