ASTスキンによるイチゴ把持のための触覚フィードバック
Enabling Tactile Feedback for Robotic Strawberry Handling using AST Skin
音響軟触覚（AST）スキンをロボットエンドエフェクタの指に実装し、イチゴの軸を2Nの力で把持するリアルタイム力制御実験を行い、その有効性を示した。
著者: Vishnu Rajendran, Kiyanoush Nazari, Simon Parsons, Amir Ghalamzan
分類: cs.RO
原文アブストラクト
Acoustic Soft Tactile (AST) skin is a novel sensing technology which derives tactile information from the modulation of acoustic waves travelling through the skin's embedded acoustic channels. A generalisable data-driven calibration model maps the acoustic modulations to the corresponding tactile information in the form of contact forces with their contact locations and contact geometries. AST skin technology has been highlighted for its easy customisation. As a case study, this paper discusses the possibility of using AST skin on a custom-built robotic end effector finger for strawberry handling. The paper delves into the design, prototyping, and calibration method to sensorise the end effector finger with AST skin. A real-time force-controlled gripping experiment is conducted with the sensorised finger to handle strawberries by their peduncle. The finger could successfully grip the strawberry peduncle by maintaining a preset force of 2 N with a maximum Mean Absolute Error (MAE) of 0.31 N over multiple peduncle diameters and strawberry weight classes. Moreover, this study sets confidence in the usability of AST skin in generating real-time tactile feedback for robot manipulation tasks.
