Torque-Sensing Soft Bellows Actuator for Multi-Fingered Hands Taking Bellow’s Buckling Into Consideration
Soft multi-fingered robotic hands are safe in human environments and can perform human-like behaviors. However, structural complexities and nonlinearities in soft actuators complicate torque sensing, a critical function for dexterous object manipulation. This study introduces a torque-sensing finger...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2023-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10319468/ |
| _version_ | 1797473529932808192 |
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| author | Kazuki Higashi Keisuke Koyama Ryuta Ozawa Kazuyuki Nagata Takuya Kiyokawa Weiwei Wan Kensuke Harada |
| author_facet | Kazuki Higashi Keisuke Koyama Ryuta Ozawa Kazuyuki Nagata Takuya Kiyokawa Weiwei Wan Kensuke Harada |
| author_sort | Kazuki Higashi |
| collection | DOAJ |
| description | Soft multi-fingered robotic hands are safe in human environments and can perform human-like behaviors. However, structural complexities and nonlinearities in soft actuators complicate torque sensing, a critical function for dexterous object manipulation. This study introduces a torque-sensing finger joint mechanism using a soft actuator composed of water-powered hydraulic bellows. Two real-time torque estimation methods are proposed, developed, and validated specifically for cases in which buckling occurs in the bellows, a situation that typically presents significant estimation challenges. The buckling spring model for torque estimation, explicitly considering the buckling effect, is a linear model that considers two elastic forces for the pressure and external force. The multi-layer perceptron model for torque estimation considers the nonlinearity of the actuator. The experimental results show that both methods can estimate the torque in real-time with high accuracy. The torque control for grasping fragile objects has also been examined in real-world scenarios. The findings indicate that, compared to the approach without torque control, successful and safe manipulation of the target objects is accomplished without causing detrimental deformation. |
| first_indexed | 2024-03-09T20:15:46Z |
| format | Article |
| id | doaj.art-ab6f6b25e0db45eb98fd82d06fbc1a8c |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-03-09T20:15:46Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-ab6f6b25e0db45eb98fd82d06fbc1a8c2023-11-24T00:01:37ZengIEEEIEEE Access2169-35362023-01-011112925812926810.1109/ACCESS.2023.333338510319468Torque-Sensing Soft Bellows Actuator for Multi-Fingered Hands Taking Bellow’s Buckling Into ConsiderationKazuki Higashi0https://orcid.org/0000-0002-2696-6992Keisuke Koyama1Ryuta Ozawa2https://orcid.org/0000-0002-5605-6316Kazuyuki Nagata3Takuya Kiyokawa4https://orcid.org/0000-0002-8555-8489Weiwei Wan5https://orcid.org/0000-0002-0058-2819Kensuke Harada6https://orcid.org/0000-0002-7576-756XGraduate School of Engineering Science, Osaka University, Osaka, Toyonaka, JapanGraduate School of Engineering Science, Osaka University, Osaka, Toyonaka, JapanSchool of Science and Technology, Meiji University, Tokyo, JapanCenter for Future Design Engineering, Reitaku University, Chiba, JapanGraduate School of Engineering Science, Osaka University, Osaka, Toyonaka, JapanGraduate School of Engineering Science, Osaka University, Osaka, Toyonaka, JapanGraduate School of Engineering Science, Osaka University, Osaka, Toyonaka, JapanSoft multi-fingered robotic hands are safe in human environments and can perform human-like behaviors. However, structural complexities and nonlinearities in soft actuators complicate torque sensing, a critical function for dexterous object manipulation. This study introduces a torque-sensing finger joint mechanism using a soft actuator composed of water-powered hydraulic bellows. Two real-time torque estimation methods are proposed, developed, and validated specifically for cases in which buckling occurs in the bellows, a situation that typically presents significant estimation challenges. The buckling spring model for torque estimation, explicitly considering the buckling effect, is a linear model that considers two elastic forces for the pressure and external force. The multi-layer perceptron model for torque estimation considers the nonlinearity of the actuator. The experimental results show that both methods can estimate the torque in real-time with high accuracy. The torque control for grasping fragile objects has also been examined in real-world scenarios. The findings indicate that, compared to the approach without torque control, successful and safe manipulation of the target objects is accomplished without causing detrimental deformation.https://ieeexplore.ieee.org/document/10319468/Bucklingmulti-fingered handsoft bellows actuatortorque-sensing |
| spellingShingle | Kazuki Higashi Keisuke Koyama Ryuta Ozawa Kazuyuki Nagata Takuya Kiyokawa Weiwei Wan Kensuke Harada Torque-Sensing Soft Bellows Actuator for Multi-Fingered Hands Taking Bellow’s Buckling Into Consideration IEEE Access Buckling multi-fingered hand soft bellows actuator torque-sensing |
| title | Torque-Sensing Soft Bellows Actuator for Multi-Fingered Hands Taking Bellow’s Buckling Into Consideration |
| title_full | Torque-Sensing Soft Bellows Actuator for Multi-Fingered Hands Taking Bellow’s Buckling Into Consideration |
| title_fullStr | Torque-Sensing Soft Bellows Actuator for Multi-Fingered Hands Taking Bellow’s Buckling Into Consideration |
| title_full_unstemmed | Torque-Sensing Soft Bellows Actuator for Multi-Fingered Hands Taking Bellow’s Buckling Into Consideration |
| title_short | Torque-Sensing Soft Bellows Actuator for Multi-Fingered Hands Taking Bellow’s Buckling Into Consideration |
| title_sort | torque sensing soft bellows actuator for multi fingered hands taking bellow x2019 s buckling into consideration |
| topic | Buckling multi-fingered hand soft bellows actuator torque-sensing |
| url | https://ieeexplore.ieee.org/document/10319468/ |
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