Empowering Particle Jamming Soft Gripper with Tactility via Stretchable Optoelectronic Sensing Skin
Particle‐jamming soft grippers demonstrate notable shape adaptability and adjustable stiffness, which improve their grasping efficiency. However, integrating tactile sensing into these grippers presents challenges due to the specific properties of the particle jamming mechanism. This study introduce...
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| Main Authors: | , , , , , , , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2025-01-01
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| Series: | Advanced Intelligent Systems |
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| Online Access: | https://doi.org/10.1002/aisy.202400285 |
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| author | Liyan Mo Wenhao Xie Jingting Qu Jiutian Xia Yunquan Li Yuanfang Zhang Tao Ren Yang Yang Juan Yi Changchun Wu Yonghua Chen |
| author_facet | Liyan Mo Wenhao Xie Jingting Qu Jiutian Xia Yunquan Li Yuanfang Zhang Tao Ren Yang Yang Juan Yi Changchun Wu Yonghua Chen |
| author_sort | Liyan Mo |
| collection | DOAJ |
| description | Particle‐jamming soft grippers demonstrate notable shape adaptability and adjustable stiffness, which improve their grasping efficiency. However, integrating tactile sensing into these grippers presents challenges due to the specific properties of the particle jamming mechanism. This study introduces a parallel particle jamming soft gripper equipped with tactile sensing capabilities. The gripper consists of two tactile sensing particle jamming pads (TSPJPs) that are integrated with flexible optoelectronic skins. These skins are made of silicone rubber membranes and are embedded with a 3 × 3 array of stretchable optical waveguide arrays (SOWAs). Testing indicates that incorporating these sensors enhances the gripper's tactile sensing capabilities, with minimal impact on its particle jamming‐based grasping function. A single TSPJP can accurately detect various contact points and estimate the contract forces. The proposed soft gripper can reliably grasp a wide range of objects, varying in shape, hardness, and weight, and it provides detailed tactile feedback on contact locations and the intensity of the grasping through the SOWA sensor. It can precisely distinguish between different grasping postures using a light gradient boosting machine (LightGBM) learning model. Furthermore, it can effectively detect the slippage of grasped objects, facilitating accurate closed‐loop control for secure manipulation. |
| format | Article |
| id | doaj-art-9cebd021366448d8955a15387c11d930 |
| institution | Kabale University |
| issn | 2640-4567 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Advanced Intelligent Systems |
| spelling | doaj-art-9cebd021366448d8955a15387c11d9302025-01-21T07:26:27ZengWileyAdvanced Intelligent Systems2640-45672025-01-0171n/an/a10.1002/aisy.202400285Empowering Particle Jamming Soft Gripper with Tactility via Stretchable Optoelectronic Sensing SkinLiyan Mo0Wenhao Xie1Jingting Qu2Jiutian Xia3Yunquan Li4Yuanfang Zhang5Tao Ren6Yang Yang7Juan Yi8Changchun Wu9Yonghua Chen10Shien‐Ming Wu School of Intelligent Engineering South China University of Technology Guangzhou 511442 ChinaShien‐Ming Wu School of Intelligent Engineering South China University of Technology Guangzhou 511442 ChinaShien‐Ming Wu School of Intelligent Engineering South China University of Technology Guangzhou 511442 ChinaShien‐Ming Wu School of Intelligent Engineering South China University of Technology Guangzhou 511442 ChinaShien‐Ming Wu School of Intelligent Engineering South China University of Technology Guangzhou 511442 ChinaShien‐Ming Wu School of Intelligent Engineering South China University of Technology Guangzhou 511442 ChinaSchool of Mechanical and Electrical Engineering Chengdu University of Technology Chengdu 610059 ChinaSchool of Automation Nanjing University of Information Science and Technology Nanjing 210044 ChinaDepartment of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen 518055 ChinaDepartment of Mechanical Engineering The University of Hong Kong Hong Kong SAR Hong Kong 999077 ChinaDepartment of Mechanical Engineering The University of Hong Kong Hong Kong SAR Hong Kong 999077 ChinaParticle‐jamming soft grippers demonstrate notable shape adaptability and adjustable stiffness, which improve their grasping efficiency. However, integrating tactile sensing into these grippers presents challenges due to the specific properties of the particle jamming mechanism. This study introduces a parallel particle jamming soft gripper equipped with tactile sensing capabilities. The gripper consists of two tactile sensing particle jamming pads (TSPJPs) that are integrated with flexible optoelectronic skins. These skins are made of silicone rubber membranes and are embedded with a 3 × 3 array of stretchable optical waveguide arrays (SOWAs). Testing indicates that incorporating these sensors enhances the gripper's tactile sensing capabilities, with minimal impact on its particle jamming‐based grasping function. A single TSPJP can accurately detect various contact points and estimate the contract forces. The proposed soft gripper can reliably grasp a wide range of objects, varying in shape, hardness, and weight, and it provides detailed tactile feedback on contact locations and the intensity of the grasping through the SOWA sensor. It can precisely distinguish between different grasping postures using a light gradient boosting machine (LightGBM) learning model. Furthermore, it can effectively detect the slippage of grasped objects, facilitating accurate closed‐loop control for secure manipulation.https://doi.org/10.1002/aisy.202400285optoelectronic sensing skinparticle jamming gripperstretchable optical waveguide sensortactile sensing |
| spellingShingle | Liyan Mo Wenhao Xie Jingting Qu Jiutian Xia Yunquan Li Yuanfang Zhang Tao Ren Yang Yang Juan Yi Changchun Wu Yonghua Chen Empowering Particle Jamming Soft Gripper with Tactility via Stretchable Optoelectronic Sensing Skin Advanced Intelligent Systems optoelectronic sensing skin particle jamming gripper stretchable optical waveguide sensor tactile sensing |
| title | Empowering Particle Jamming Soft Gripper with Tactility via Stretchable Optoelectronic Sensing Skin |
| title_full | Empowering Particle Jamming Soft Gripper with Tactility via Stretchable Optoelectronic Sensing Skin |
| title_fullStr | Empowering Particle Jamming Soft Gripper with Tactility via Stretchable Optoelectronic Sensing Skin |
| title_full_unstemmed | Empowering Particle Jamming Soft Gripper with Tactility via Stretchable Optoelectronic Sensing Skin |
| title_short | Empowering Particle Jamming Soft Gripper with Tactility via Stretchable Optoelectronic Sensing Skin |
| title_sort | empowering particle jamming soft gripper with tactility via stretchable optoelectronic sensing skin |
| topic | optoelectronic sensing skin particle jamming gripper stretchable optical waveguide sensor tactile sensing |
| url | https://doi.org/10.1002/aisy.202400285 |
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