Cargando…

Geometry Optimisation of a Hall-Effect-Based Soft Fingertip for Estimating Orientation of Thin Rectangular Objects

Soft tactile sensors have been applied to robotic grippers for assembly. It is a challenging task to obtain contact information and object orientation using tactile sensors during grasping. Currently, the design of Hall-effect-based tactile sensors to perform such tasks is based on trial and error....

Descripción completa

Detalles Bibliográficos
Autores principales: Rosle, Muhammad Hisyam, Wang, Zhongkui, Hirai, Shinichi
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2019
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6767353/
https://www.ncbi.nlm.nih.gov/pubmed/31546978
http://dx.doi.org/10.3390/s19184056
_version_ 1783454898222792704
author Rosle, Muhammad Hisyam
Wang, Zhongkui
Hirai, Shinichi
author_facet Rosle, Muhammad Hisyam
Wang, Zhongkui
Hirai, Shinichi
author_sort Rosle, Muhammad Hisyam
collection PubMed
description Soft tactile sensors have been applied to robotic grippers for assembly. It is a challenging task to obtain contact information and object orientation using tactile sensors during grasping. Currently, the design of Hall-effect-based tactile sensors to perform such tasks is based on trial and error. We present a method of investigating the optimal geometrical design of a cylindrical soft sensor to increase its sensitivity. The finite element model of a soft fingertip was constructed in Abaqus with two design variables, i.e., hollow radius and magnet position. Then, the model was imported into Isight, with the maximisation of magnet displacement as the objective function. We found that the optimal design was at the boundary of the parameter design space. Four fingertips were fabricated with one intuitive, one optimal, and two optional sets of parameters. Experiments were performed, and object orientation was estimated by utilising linear approximation and a machine learning approach. Good agreements were achieved between optimisation and experiments. The results revealed that the estimated average error in object orientation was decreased by the optimised fingertip design. Furthermore, the 3-axis forces could successfully be estimated based on sensor outputs.
format Online
Article
Text
id pubmed-6767353
institution National Center for Biotechnology Information
language English
publishDate 2019
publisher MDPI
record_format MEDLINE/PubMed
spelling pubmed-67673532019-10-02 Geometry Optimisation of a Hall-Effect-Based Soft Fingertip for Estimating Orientation of Thin Rectangular Objects Rosle, Muhammad Hisyam Wang, Zhongkui Hirai, Shinichi Sensors (Basel) Article Soft tactile sensors have been applied to robotic grippers for assembly. It is a challenging task to obtain contact information and object orientation using tactile sensors during grasping. Currently, the design of Hall-effect-based tactile sensors to perform such tasks is based on trial and error. We present a method of investigating the optimal geometrical design of a cylindrical soft sensor to increase its sensitivity. The finite element model of a soft fingertip was constructed in Abaqus with two design variables, i.e., hollow radius and magnet position. Then, the model was imported into Isight, with the maximisation of magnet displacement as the objective function. We found that the optimal design was at the boundary of the parameter design space. Four fingertips were fabricated with one intuitive, one optimal, and two optional sets of parameters. Experiments were performed, and object orientation was estimated by utilising linear approximation and a machine learning approach. Good agreements were achieved between optimisation and experiments. The results revealed that the estimated average error in object orientation was decreased by the optimised fingertip design. Furthermore, the 3-axis forces could successfully be estimated based on sensor outputs. MDPI 2019-09-19 /pmc/articles/PMC6767353/ /pubmed/31546978 http://dx.doi.org/10.3390/s19184056 Text en © 2019 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Rosle, Muhammad Hisyam
Wang, Zhongkui
Hirai, Shinichi
Geometry Optimisation of a Hall-Effect-Based Soft Fingertip for Estimating Orientation of Thin Rectangular Objects
title Geometry Optimisation of a Hall-Effect-Based Soft Fingertip for Estimating Orientation of Thin Rectangular Objects
title_full Geometry Optimisation of a Hall-Effect-Based Soft Fingertip for Estimating Orientation of Thin Rectangular Objects
title_fullStr Geometry Optimisation of a Hall-Effect-Based Soft Fingertip for Estimating Orientation of Thin Rectangular Objects
title_full_unstemmed Geometry Optimisation of a Hall-Effect-Based Soft Fingertip for Estimating Orientation of Thin Rectangular Objects
title_short Geometry Optimisation of a Hall-Effect-Based Soft Fingertip for Estimating Orientation of Thin Rectangular Objects
title_sort geometry optimisation of a hall-effect-based soft fingertip for estimating orientation of thin rectangular objects
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6767353/
https://www.ncbi.nlm.nih.gov/pubmed/31546978
http://dx.doi.org/10.3390/s19184056
work_keys_str_mv AT roslemuhammadhisyam geometryoptimisationofahalleffectbasedsoftfingertipforestimatingorientationofthinrectangularobjects
AT wangzhongkui geometryoptimisationofahalleffectbasedsoftfingertipforestimatingorientationofthinrectangularobjects
AT hiraishinichi geometryoptimisationofahalleffectbasedsoftfingertipforestimatingorientationofthinrectangularobjects