Calibration of tactile/force sensors for grasping with the PRISMA Hand II

The PRISMA Hand II is a mechanically robust anthropomorphic hand developed at PRISMA Lab, University of Naples Federico II. The hand is highly underactuated, three motors drive 19 joints via elastic tendons. Thanks to its particular mechanical design, the hand can perform not only adaptive grasps bu...

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Main Authors: Canbay, D.E., Ferrentino, P., Liu, H., Moccia, R., Pirozzi, S., Siciliano, B., Ficuciello, F.
Format: Conference Proceeding
Language:English
Subjects:
Calibration
force regulation
force/tactile sensors
Grasping
Neural networks
neural networks models
Regulation
Robot sensing systems
robotic hand
Sports equipment
Tactile sensors
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creator Canbay, D.E.
Ferrentino, P.
Liu, H.
Moccia, R.
Pirozzi, S.
Siciliano, B.
Ficuciello, F.
description The PRISMA Hand II is a mechanically robust anthropomorphic hand developed at PRISMA Lab, University of Naples Federico II. The hand is highly underactuated, three motors drive 19 joints via elastic tendons. Thanks to its particular mechanical design, the hand can perform not only adaptive grasps but also in-hand manipulation. Each fingertip integrates a tactile/force sensor, based on optoelectronic technology, to provide tactile/force feedback during grasping and manipulation, particularly useful with deformable objects. The paper briefly describes the mechanical design and sensor technology of the hand and proposes a calibration procedure for tactile/force sensors. A comparison between different models of Neural Networks architectures, suitable for sensors calibration, is shown. Experimental tests are provided to choose the optimal tactile sensing suite. Finally, experiments for the regulation of the forces are made to show the effectiveness of calibrated sensors.
doi_str_mv 10.1109/AIM46487.2021.9517508
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source IEEE Xplore All Conference Series
subjects Calibration
force regulation
force/tactile sensors
Grasping
Neural networks
neural networks models
Regulation
Robot sensing systems
robotic hand
Sports equipment
Tactile sensors
title Calibration of tactile/force sensors for grasping with the PRISMA Hand II
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