English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

This paper proposes a soft sensor embedded in a soft ring actuator with fivefingers as a soft hand to identify the bifurcation of manipulated objectsduring the in-hand manipulation process. The manipulation is performed bybreaking the symmetry method with an underactuated control system bybifurcating the object to clockwise or counter-clockwise rotations. Two softsensors are embedded in parallel over a single soft finger, and the differencein the resistance measurements is compared when the finger is displaced or bentin a particular direction, which can identify the bifurcation direction and aidin the break of symmetry approach without the need of external trackingdevices. The sensors performance is also characterised by extending and bendingthe finger without an object interaction. During an experiment that performs abreak of symmetry, manipulated objects turn clockwise and counter-clockwisedepending on the perturbation and actuation frequency, sensors can track thedirection of rotation. The embedded sensors provide a self-sensing capabilityfor implementing a closed-loop control in future work. The soft ring actuatorperformance presents a self-organisation behaviour with soft fingers rotatingan object without a required control for rotating the object. Therefore, thesoft fingers are an underactuated system with complex behaviour wheninteracting with objects that serve in-hand manipulation field.

Embedded Soft Sensing in Soft Ring Actuator for Aiding with theSelf-Organisation of the In-Hand Rotational Manipulation