Robotic grasping has become increasingly important in many application areas such as industrial manufacturing and logistics. Because of the diversity uncertainty objects environments, common grippers with one single mode face difficulties to fulfill all tasks. Hence, we proposed a soft gripper multiple modes this study. The consists four modular fingers integrated layer jamming structure tendon-driven mechanism. Each finger's rotating shaft base uses torsional spring decouple bending...

Under the strategic framework of global carbon emission reduction, it is urgent to reduce energy consumption centrifugal pumps. Monitoring pump's operational states can effectively help people understand system's behavior, and achieve optimal management on pump equipment. In view installation space, cost, reliability other factors, necessary find an alternative traditional sensor monitoring scheme. Therefore, significant develop a prediction method for state using sensorless technology. this...

Abstract Flexoelectricity features the strain gradient‐induced mechanoelectric conversion using materials not limited by their crystalline symmetry, but state‐of‐the‐art flexoelectric exhibit very small coefficients and are too brittle to withstand large deformations. Here, inspired ion polarization in living organisms, this paper reports giant iontronic flexoelectricity of soft hydrogels where is attributed different transfer rates cations anions under bending The found be easily regulated...

This paper focuses on multi-modal Information Perception (IP) for Soft Robotic Hands (SRHs) using Machine Learning (ML) algorithms. A flexible Optical Fiber-based Curvature Sensor (OFCS) is fabricated, consisting of a Light-Emitting Diode (LED), photosensitive detector, and optical fiber. Bending the roughened fiber generates lower light intensity, which reflecting curvature soft finger. Together with pressure information, IP performed to improve recognition accuracy. Recognitions gesture,...

With the accelerated aging of global population and escalating labor costs, more service robots are needed to help people perform complex tasks. As such, human-robot interaction is a particularly important research topic. To effectively transfer human behavior skills robot, in this study, we conveyed skill-learning functions via our proposed wearable device. The robotic teleoperation system utilizes interactive demonstration device by directly controlling speed motors. We present...

The utilization of robots in computer, communication, and consumer electronics (3C) assembly has the potential to significantly reduce labor costs enhance efficiency. However, many typical scenarios 3C assembly, such as flexible printed circuits (FPCs), involve complex manipulations with long-horizon steps high-precision requirements that cannot be effectively accomplished through manual programming or conventional skill-learning methods. To address this challenge, article proposes a...

Current soft grippers lack active variable stiffness composite fingers and flexible modular configuration, which limit their robust grasp abilities. We proposed a morphology configurable gripper (MCSG) assembled with self-adaption (SAMCFs), whose grasping force can be up to 193 N. The SAMCF three actuator modules embedded arranged sponge paperboard one sensor module made preinflated air chamber is developed perform high load capacity self-sensing ability. Through assembling corresponding...

A novel variable stiffness soft robotic hand (SRH) consists of three pieces layer jamming structure (LJS) is proposed. The mechanism driven by the motor-based tendon along surface that connect to individual gas channel. Each LJS optimised adhering a thin hot melt adhesive and overlapping spring steel sheet as inner material. It can be switched between rigid compliant independently. structures tendon-driven lead various deformation poses. Then control system SRH performance analysis are...

Abstract The purpose of this study is to realize virtual interaction and manipulation control a hexacopter based on hand gesture recognition from designed data glove, provide an intuitive visual real-time simulation system for flight algorithm verification external equipment testing. First, the glove studied, which can recognize different actions, such as mobile ready, grab, loosen, landing, take-off, hover. Then, design capture completed, with model manipulator, software $CoppeliaSim$ ....

Compared with traditional rigid gripper joint-linkage structure, novel soft robotic gives rise to continuous concern for the advantages of no-damage grasping, convenient manufacture, easy control, and low cost. In this study, we design built two kinds grippers four fiber-reinforced actuators which are distributed in circular rectangle shapes single twin contacts grasping. A hybrid valve pneumatic control scheme combining proportional solenoid valves is proposed. Also, a mode controllable...

The biomimetic soft robotic actuators can provide stable flexible multi-point contact to safely grip delicate objects. A lot of have been fabricated using silica gel materials through molding methods. However, owing the difficulty demolding process, existing arms are often designed be short. To fabricate a long arm, this paper proposes novel design approach for fabricating arm (1000 mm) inspired by octopus that is fiber-reinforced pneumatic elastomeric actuator. First, we develop set molds...

Purpose The safety performance of cooperative robots is particularly important. This paper aims to study collision detection and response robots, which meet the lightweight requirements help ensure humans robots. Design/methodology/approach proposes a detection, recognition method based on dynamic models. First, this identifies model robot. Second, an external torque observer established model, threshold designed reduce interference uncertainty detection. Finally, position direction...

The high-performance measurement of velocity and position is an important requirement for applications motion control servo drive. This paper presents a new methodology to derive the information by processing pulses from optical incremental encoder. Compared with conventional adaptive method, proposed evaluation method adopts hysteresis switch technique remove switching fluctuation. Further, time-to-digital converter performed phase-locked loop used accurate time interval measurement,...

A dual surface structured light vision system based on the theory of multidimensional parameter coding is proposed in this paper that can provide a new high-performance and adaptive encoding robot perception system. Specifically, consists an auxiliary source principal light. Scene images from determine parameters The process adaptively encode according to types numbers parameters. image formed by encoded reflect depth change details target object guide locate quickly accurately. simulation...

In the quest for intelligent robots, it is essential to enable them understand tasks beyond mere manipulation. Achieving this requires a robust parsing mode that can be used human cognition and semantics. However, existing methods task motion planning lack generalization interpretability, while robotic knowledge bases primarily focus on static manipulation objects, neglecting dynamic skills. To address these limitations, we present knowledge-based framework hierarchically understanding...

Autonomous indoor service robots are affected by multiple factors when they directly involved in manipulation tasks daily life, such as scenes, objects, and actions. It is of self-evident importance to properly parse these interpret intentions according human cognition semantics. In this study, the design a semantic representation framework based on knowledge graph presented, including (1) multi-layer knowledge-representation model, (2) multi-module system, (3) method extract from sources...

Abstract Fluid-filled fiber-reinforced elastomeric enclosures (FREEs) with a circular cross section, inspired by the muscle structure of octopus arms, are popular choice for actuators because their high power density and relatively low manufacturing cost. However, shape, flexibility, grasping force FREEs slightly different from those real arms. A soft arm semicircular section has better bending performance than that can thus more easily achieve flexible grasping. In this paper, to describe...