The Science and Information (SAI) Organization
  • Home
  • About Us
  • Journals
  • Conferences
  • Contact Us

Publication Links

  • IJACSA
  • Author Guidelines
  • Publication Policies
  • Metadata Harvesting (OAI2)
  • Digital Archiving Policy
  • Promote your Publication

IJACSA

  • About the Journal
  • Call for Papers
  • Author Guidelines
  • Fees/ APC
  • Submit your Paper
  • Current Issue
  • Archives
  • Indexing
  • Editors
  • Reviewers
  • Apply as a Reviewer

IJARAI

  • About the Journal
  • Archives
  • Indexing & Archiving

Special Issues

  • Home
  • Archives
  • Proposals
  • Guest Editors

Future of Information and Communication Conference (FICC)

  • Home
  • Call for Papers
  • Submit your Paper/Poster
  • Register
  • Venue
  • Contact

Computing Conference

  • Home
  • Call for Papers
  • Submit your Paper/Poster
  • Register
  • Venue
  • Contact

Intelligent Systems Conference (IntelliSys)

  • Home
  • Call for Papers
  • Submit your Paper/Poster
  • Register
  • Venue
  • Contact

Future Technologies Conference (FTC)

  • Home
  • Call for Papers
  • Submit your Paper/Poster
  • Register
  • Venue
  • Contact
  • Home
  • Call for Papers
  • Guidelines
  • Fees
  • Submit your Paper
  • Current Issue
  • Archives
  • Indexing
  • Editors
  • Reviewers
  • Subscribe

Article Details

Copyright Statement: This is an open access article licensed under a Creative Commons Attribution 4.0 International License, which permits unrestricted use, distribution, and reproduction in any medium, even commercially as long as the original work is properly cited.

Evaluating Contact Detection, Size Recognization and Grasping State of an Object using Soft Elastomer Gripper

Author 1: Kazi Abaul Jamil

Download PDF

Digital Object Identifier (DOI) : 10.14569/IJACSA.2020.0110584

Article Published in International Journal of Advanced Computer Science and Applications(IJACSA), Volume 11 Issue 5, 2020.

  • Abstract and Keywords
  • How to Cite this Article
  • {} BibTeX Source

Abstract: Object handling process of the sensitive or fragile object is critical to preserve its quality. In this domain, soft robotics has gained a lot of attention. However, limitations of detecting contact and grasping behavior is still a challenging task due to the non-linear behavior of soft gripper. Moreover, to regulate grasping behavior, exact real-time contact feedback is a crucial task. To improve the contact detection accuracy a gradient-based algorithm is proposed with the feedback from a simple resistive flex sensor and a pressure sensor. For that purpose firstly, the resistive flex sensor is embedded into the gripper to get the real-time gripper’s finger position. Secondly, solenoid valves and pressure sensors are used to control the pneumatic pressure from the pump, and finally, a closed-loop control system is developed for controlling the grasping process. The proposed contact detection algorithm can provide contact feedback with an accuracy of ±3m􀀀, which is implemented to perform the size recognization of the sphere-shaped objects. A real-time experimental setup has been developed which can successfully perform a pick and place of fruits and vegetables. The key benefits of the proposed algorithm are less complexity and better accuracy.

Keywords: Grasping process; contact feedback; size recogniza-tion

Kazi Abaul Jamil, “Evaluating Contact Detection, Size Recognization and Grasping State of an Object using Soft Elastomer Gripper” International Journal of Advanced Computer Science and Applications(IJACSA), 11(5), 2020. http://dx.doi.org/10.14569/IJACSA.2020.0110584

@article{Jamil2020,
title = {Evaluating Contact Detection, Size Recognization and Grasping State of an Object using Soft Elastomer Gripper},
journal = {International Journal of Advanced Computer Science and Applications},
doi = {10.14569/IJACSA.2020.0110584},
url = {http://dx.doi.org/10.14569/IJACSA.2020.0110584},
year = {2020},
publisher = {The Science and Information Organization},
volume = {11},
number = {5},
author = {Kazi Abaul Jamil}
}


IJACSA

Upcoming Conferences

Future of Information and Communication Conference (FICC) 2023

2-3 March 2023

  • Virtual

Computing Conference 2023

22-23 June 2023

  • London, United Kingdom

IntelliSys 2023

7-8 September 2023

  • Amsterdam, The Netherlands

Future Technologies Conference (FTC) 2023

2-3 November 2023

  • San Francisco, United States
The Science and Information (SAI) Organization
BACK TO TOP

Computer Science Journal

  • About the Journal
  • Call for Papers
  • Submit Paper
  • Indexing

Our Conferences

  • Computing Conference
  • Intelligent Systems Conference
  • Future Technologies Conference
  • Communication Conference

Help & Support

  • Contact Us
  • About Us
  • Terms and Conditions
  • Privacy Policy

© The Science and Information (SAI) Organization Limited. Registered in England and Wales. Company Number 8933205. All rights reserved. thesai.org