DexiTac：软体灵巧触觉抓取
DexiTac: Soft Dexterous Tactile Gripping
AI总结：
本文提出软体灵巧触觉夹持器DexiTac，通过可重构气动手指、DigiTac-v1.5视觉触觉传感器和触觉核密度操作策略，结合双闭环控制实现稳定抓取与灵巧操作。
摘要：
抓取物体——无论它们是扁平的、圆形的还是狭窄的，也无论它们具有规则还是不规则形状——即使在最先进的夹持器中，也都会给确定理想抓取姿态带来困难。在本文中，我们提出了一种可重构气动夹持器，其手指可以设置为多种构型，例如钩取、支撑、闭合和捏取。每个手指都集成了一个灵巧关节、一个旋转关节以及一个定制的即插即用视觉触觉传感器 DigiTac-v1.5，用于实时控制操作。我们提出了一种触觉核密度操作策略，以实现简单且通用的控制，包括检测抓取稳定性、响应干扰以及引导灵巧操作。我们开发了一个双闭环控制系统，分别专注于安全抓取和任务管理，并通过突出上述能力的任务进行了演示。该夹持器相对易于制造和定制，为在机器人操作的多种应用中结合软体灵巧性与触觉感知提供了一种有前景且可扩展的途径。
英文摘要：
Grasping object,whether they are flat, round, or narrow and whether they have regular or irregular shapes,introduces difficulties in determining the ideal grasping posture, even for the most state-of-the-art grippers. In this article, we presented a reconfigurable pneumatic gripper with fingers that could be set in various configurations, such as hooking, supporting, closuring, and pinching. Each finger incorporates a dexterous joint, a rotating joint, and a customized plug-and-play visuotactile sensor, the DigiTac-v1.5, to control manipulation in real time. We propose a tactile kernel density manipulation strategy for simple and versatile control, including detecting grasp stability, responding to disturbances and guiding dexterous manipulations. We develop a double closed-loop control system that separately focuses on secure grasping and task management, demonstrated with tasks that highlight the capabilities above. The gripper is relatively easy to fabricate and customize, offering a promising and extensible way to combine soft dexterity and tactile sensing for diverse applications in robotic manipulation.
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。
