Open AccessArtificial Cutaneous Sensing of Object Slippage using Soft Robotics with Closed‐Loop Feedback Process
Author(s) -
Sekine Tomohito,
Wang Yi-Fei,
Hong Jinseo,
Takeda Yasunori,
Miura Reo,
Watanabe Yushi,
Abe Mai,
Mori Yoshiki,
Wang Zhongkui,
Kumaki Daisuke,
Santos Fabrice Domingues Dos,
Miyabo Atsushi,
Kawamura Sadao,
Tokito Shizuo
Publication year - 2021
Publication title -
small science
Language(s) - English
Resource type - Journals
ISSN - 2688-4046
DOI - 10.1002/smsc.202100002
Subject(s) - slippage , artificial intelligence , robotics , soft robotics , tactile sensor , slip (aerodynamics) , computer science , computer vision , process (computing) , robot , control engineering , engineering , structural engineering , aerospace engineering , operating system
Tactile sensing is desirable for skillful object handling in soft robotics applications. Real‐time measurement and identification of dynamic shear forces are crucial for slip detection and object interaction. This study proposes a soft sensor with a closed‐loop feedback system for dynamic shear force detection to address object slippage in a soft robotic gripper. The sensor is made of a ferroelectric polymer with nanocarbon materials because of the resulting improved crystallinity and good sensitivity. The sensor shows high performance and high‐speed response for detecting dynamic shear forces when fragile objects (e.g., vegetables) slip from the soft gripper. The artificial cutaneous sensor shows high sensitivity for grasping such objects with the gripper. Furthermore, the feedback system provides a control system for operations and avoids the need for training for various tasks, thus demonstrating the potential of the proposed system for novel soft robotics applications such as biomimetic electronic skin.