arXiv 2202.061402022-02-12cs.ROcs.SYeess.SY

基于PVDF滑动检测传感器的缆索驱动机械手抓取控制

Grasp Control of a Cable-Driven Robotic Hand Using a PVDF Slip Detection Sensor

Virginia Tech（弗吉尼亚理工学院）

Negin Nikafrooz, Zachary Fuge, Alexander Leonessa

摘要：

检测和防止滑动是机器人手操作中的主要挑战，支撑机器人执行安全和可靠抓握的能力。利用作者早期工作中的机械手设计，提出了一种防止物体滑动的传感和控制策略。机器人手是电缆驱动的，单驱动的，有五个手指，并能够复制大多数人类的手部动作。滑动感测方法利用压电振动传感器，即，聚偏二氟乙烯（PVDF），其是柔性、薄、便宜且高灵敏度的材料。滤波后的PVDF信号的功率被示出为在滑动期间表现出可识别的签名，从而提供合适的滑动检测机制。利用PVDF反馈，实现了一个积分控制器，以防止被抓物体掉落，并确保安全，有力，可靠的抓持。机器人手的伸展运动通过比例积分（PI）控制器使用弯曲传感器进行控制。机器人的手重量338克。建议滑检测传感系统和控制逻辑实现的功能和鲁棒性进行评估，通过实验。

英文摘要：

Detecting and preventing slip is a major challenge in robotic hand operation, underpinning the robot's ability to perform safe and reliable grasps. Using the robotic hand design from the authors' earlier work, a sensing and control strategy is proposed here to prevent object slippage. The robotic hand is cable-driven, single-actuated, has five fingers, and is capable of replicating most human hand motions. The slip sensing approach utilizes a piezoelectric vibration sensor, namely, polyvinylidene fluoride (PVDF), which is a flexible, thin, cheap, and highly sensitive material. The power of the filtered PVDF signal is shown to exhibit identifiable signatures during slip, thus providing a suitable slip detection mechanism. Using the PVDF feedback, an integral controller is implemented to prevent the grasped object from falling and ensure a safe, powerful, and reliable grasp. The extension movement of the robotic hand is controlled using a bend sensor, through a proportional-integral (PI) controller. The robotic hand weights 338 gr. The functionality and robustness of the proposed slip-detection sensory system and control logic implementation are evaluated through experiments.

机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。

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