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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....
Autores principales: | , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2019
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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 |
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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 |
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