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For assembly tasks, it is essential to firmly fix target parts and toaccurately estimate their poses. Several rigid jigs for individual parts arefrequently used in assembly factories to achieve precise and time-efficientproduct assembly. However, providing customized jigs is time-consuming. In thisstudy, to address the lack of versatility in the shapes the jigs can be usedfor, we developed a flexible jig with a soft membrane including transparentbeads and oil with a tuned refractive index. The bead-based jamming transitionwas accomplished by discharging only oil enabling a part to be firmly fixed.Because the two cameras under the jig are able to capture membrane shapechanges, we proposed a sensing method to estimate the orientation of the partbased on the behaviors of markers created on the jig's inner surface. Throughestimation experiments, the proposed system could estimate the orientation of acylindrical object with a diameter larger than 50 mm and an RMSE of less than 3degrees.

Soft-Jig: A Flexible Sensing Jig for Simultaneously Fixing and Estimating Orientation of Assembly Parts