A Camera-Embedded Self-Adaptable Finger With Multi-Modal Sensing Capabilities for Robotic Manipulation

A Camera-Embedded Self-Adaptable Finger With Multi-Modal Sensing Capabilities for Robotic Manipulation

This work introduces a novel vision-based sensing approach for self-adaptable soft fingers using an embedded camera, demonstrating proprioceptive and exteroceptive capabilities. The system achieves normal force estimation, Z-displacement estimation, slip detection, and force application position cla...

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Bibliographic Details
Main Authors: Muhammad Usman Khalid, Hafiz Muizz Ahmed Sethi, Nirmal Kumar Ravikumar, Halar Haleem, Alessandro Seitone, Mattia Frascio, Perla Maiolino, Matteo Zoppi
Format: Article
Language:English
Published: IEEE 2025-01-01
Series:IEEE Access
Subjects:
Integrated vision sensing
self-adaptable fingers
soft fingers
additive manufacturing
robotic gripper
soft robotics
Online Access:https://ieeexplore.ieee.org/document/10966895/
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https://ieeexplore.ieee.org/document/10966895/

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