Development of a Two-Finger Haptic Robotic Hand with Novel Stiffness Detection and Impedance Control
Abstract
:1. Introduction
2. Background and Approach
- The robotic hand is equipped with force sensors to gather information about contacts with manipulated objects. No other feedback source, such as visual information, is utilized.
- A two-fingered design, with each finger having two joints, is employed for manipulation. This design mirrors a human grasp using the thumb and index fingers, with fingertip movements confined to a plane. Despite this limitation, the design offers a wide range of motion and dexterity, comparable to the human hand’s ability to grasp objects from various orientations and positions.
- Manipulated objects are chosen with varying stiffness and shapes, demonstrating the design’s ability to handle a diverse range of objects, including delicate and rigid ones.
- Aluminum and polylactic acid (PLA) were chosen as the primary materials for manufacturing fingers and related parts to ensure that the hand is lightweight, facilitating swift movements and preventing excessive strain on the robot’s actuators.
- Electronic servomotors are selected as actuators, meeting several design requirements. These motors are equipped with encoders to provide accurate angular position feedback for precise finger positioning. This servo-based gripper enables a fine level of force and speed control, accommodating diverse tasks with variable parameters. Moreover, the use of servo-based grippers contributes to efficient power usage, a crucial factor in extended operation and increased autonomy.
3. Design of the Robotic Hand
3.1. Prototype Design
3.2. Object and Hand Geometrical Configurations
3.3. Joint Controlling Using Inverse Kinematic Equations
3.4. Controller Design
- Position Control: This control algorithm involves controlling the position of the robotic joints to achieve the desired configuration of the end-effectors [23].
- Force Control: This control algorithm involves controlling the forces at the robotic hand’s end effector and is useful for tasks requiring gentle interaction with the environment or objects [24].
- Impedance Control: This control algorithm regulates the mechanical impedance of the end effectors, which involves managing the responses of end effectors to the applied forces and motions. This technique adjusts the resistance of the system to external forces during interactions with objects or the environment [25,26].
- Approach: The robot starts with a relatively low stiffness and approaches the object. Lower stiffness allows for compliant interaction during the initial contact.
- Contact: As the robot contacts the object, it may gradually increase its stiffness to ensure stability during the grasp. This prevents the excessive deformation of the object.
- Holding: Once the object is securely grasped, the robot can maintain a stable grip by adjusting the stiffness and damping. The control system may continuously adapt to the object’s properties and environmental conditions.
- Lifting: If the task involves lifting the object, the robot can adjust the stiffness and damping to ensure a smooth and controlled lift, minimizing the risk of dropping the object.
4. Experimental Implementation
5. Results
6. Summary and Conclusions
- The use of servomotors in the design of the hand or gripper increased accuracy and ease of operation, enabling the implementation of control algorithms.
- Two degrees of freedom in each finger enhanced the robot’s dexterity.
- Using precise servomotors allowed for the application of direct and inverse kinematics to control the robot’s position as a controller or observer.
- Impedance control allowed for an acceptable understanding of touching different objects and control of the hand, providing simplicity and high precision.
Author Contributions
Funding
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
References
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Links | Length (mm) | Joints | Joint Constraints (Degree) |
---|---|---|---|
Link 1 | 67 mm | Servo 1 | 0 < θ1 < 90 |
Link 2 | 67 mm | Servo 2 | 90 < θ2 < 180 |
Link 3 | 40.3 mm | Servo 3 | 0 < θ3 < 110 |
Link 4 | 40.3 mm | Servo 4 | 70 < θ4 < 180 |
Objects | Effective Diameter (mm) | Fingertip-to-Fingertip Distance (mm) | Rigidity Percentage (%) |
---|---|---|---|
Sponge Ball | 65 | 58 | 89 |
Empty Soda Can | 50 | 47 | 94 |
Apple | 60 | 60 | 100 |
Glass Cup | 52 | 52 | 100 |
Plastic Cup | 60 | 59 | 98 |
Milk Packet | 42 | 40 | 95 |
Degrees of Stiffness | Values from FSR Sensors |
---|---|
Very Soft | 0–200 |
Soft | 201–400 |
Moderate | 401–550 |
Stiff | 551–700 |
Very Stiff | 701–800 |
Degrees of Stiffness | Current Differences in Close and Load Phases (mA) |
---|---|
Very Soft | 80–289 |
Soft | 290–339 |
Moderate | 340–379 |
Stiff | 380–429 |
Very Stiff | ≥430 |
Objects | Very Soft | Soft | Moderate | Stiff | Very Stiff |
---|---|---|---|---|---|
Sponge Ball | 10 | 0 | 0 | 0 | 0 |
Empty Soda Can | 9 | 1 | 0 | 0 | 0 |
Plastic Cup | 1 | 8 | 1 | 0 | 0 |
Milk Packet | 1 | 7 | 2 | 0 | 0 |
Apple | 0 | 0 | 3 | 7 | 0 |
Glass Cup | 0 | 0 | 0 | 0 | 10 |
Experimental Results | Sponge Ball | Empty Soda Can | Plastic Cup | Milk Packet | Apple | Glass Cup |
---|---|---|---|---|---|---|
Average servomotor current values during initial touch (end of close phase) | 157.7 mA | 142.7 mA | 167.4 mA | 155 mA | 167.2 mA | 163.5 mA |
Average servomotor current values during loading (end of load phase) | 319.2 mA | 445 mA | 469.9 mA | 472 mA | 571.5 mA | 600.2 mA |
The current difference at the close and load phases | 161.5 mA | 282.2 mA | 302.5 mA | 317 mA | 404.2 mA | 436.7 mA |
Degrees of stiffness | Very Soft | Very Soft | Soft | Soft | Stiff | Very Stiff |
The position of left and right fingertips during touch (x,y) | (166, 40) and (166, −40) | (166, 40) and (166, −40) | (166, 35) and (166, −35) | (170, 19) and (170, −19) | (166, 34) and (166, −34) | (166, 34) and (166, −34) |
The position of left and right fingertips during gripping (x,y) | (175, 25) and (175, −25) | (171, 29) and (171, −29) | 168, 32) and (168, −32) | (175, 14) and (175, −14) | (169, 31) and (169, −31) | (167, 33) and (167, −33) |
The position of left and right fingertips during destructive deformation (x,y) | NA | (176, 24) and (176, −24) | (170, 31) and (176, −31) | (180, 9) and (180, −9) | NA | NA |
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Mohammadi, V.; Shahbad, R.; Hosseini, M.; Gholampour, M.H.; Shiry Ghidary, S.; Najafi, F.; Behboodi, A. Development of a Two-Finger Haptic Robotic Hand with Novel Stiffness Detection and Impedance Control. Sensors 2024, 24, 2585. https://doi.org/10.3390/s24082585
Mohammadi V, Shahbad R, Hosseini M, Gholampour MH, Shiry Ghidary S, Najafi F, Behboodi A. Development of a Two-Finger Haptic Robotic Hand with Novel Stiffness Detection and Impedance Control. Sensors. 2024; 24(8):2585. https://doi.org/10.3390/s24082585
Chicago/Turabian StyleMohammadi, Vahid, Ramin Shahbad, Mojtaba Hosseini, Mohammad Hossein Gholampour, Saeed Shiry Ghidary, Farshid Najafi, and Ahad Behboodi. 2024. "Development of a Two-Finger Haptic Robotic Hand with Novel Stiffness Detection and Impedance Control" Sensors 24, no. 8: 2585. https://doi.org/10.3390/s24082585