We describe a novel three-finger robot hand that has high resolution tactile sensing along the entire length of each finger. The fingers are compliant, constructed with a soft shell supported with a flexible endoskeleton. Each finger contains two cameras, allowing tactile data to be gathered along the front and side surfaces of the fingers. The gripper can perform an enveloping grasp of an object and extract a large amount of rich tactile data in a single grasp. By capturing data from many parts of the grasped object at once, we can do object recognition with a single grasp rather than requiring multiple touches. We describe our novel design and construction techniques which allow us to simultaneously satisfy the requirements of compliance and strength, and high resolution tactile sensing over large areas. The supplementary video can be found here: https://youtu.be/H1OYADtgj9k
翻译:我们介绍了一种新型的三指机器人手,其具有沿着每个手指的整个长度进行高分辨率触觉感知的能力。手指灵活,采用柔性外壳和内部的柔性内骨骼支撑。每个手指内部含有两个摄像头,可以使触觉数据同时从手指的前表面和侧表面获取。夹具可以对物体进行包覆式抓取,并在单次抓取中提取大量丰富的触觉数据。通过一次抓取从物体的许多部分捕获数据,我们可以实现单次抓取物体识别,而不需要多次触碰。我们介绍了我们的新型设计和构造技术,这些技术可以同时满足柔性和强度要求,以及对大面积高分辨率触觉感知的需求。补充视频可以在此处找到:https://youtu.be/H1OYADtgj9k