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DOI: 10.14569/IJACSA.2020.0110584
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Evaluating Contact Detection, Size Recognization and Grasping State of an Object using Soft Elastomer Gripper

Author 1: Kazi Abaul Jamil

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

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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}
}



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.

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