GelLink: A Compact Multi-phalanx Finger with Vision-based Tactile Sensing and Proprioception
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| Format: | Preprint |
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2024
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| _version_ | 1866909149854433280 |
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| author | Ma, Yuxiang Zhao, Jialiang Adelson, Edward |
| author_facet | Ma, Yuxiang Zhao, Jialiang Adelson, Edward |
| contents | Compared to fully-actuated robotic end-effectors, underactuated ones are generally more adaptive, robust, and cost-effective. However, state estimation for underactuated hands is usually more challenging. Vision-based tactile sensors, like Gelsight, can mitigate this issue by providing high-resolution tactile sensing and accurate proprioceptive sensing. As such, we present GelLink, a compact, underactuated, linkage-driven robotic finger with low-cost, high-resolution vision-based tactile sensing and proprioceptive sensing capabilities. In order to reduce the amount of embedded hardware, i.e. the cameras and motors, we optimize the linkage transmission with a planar linkage mechanism simulator and develop a planar reflection simulator to simplify the tactile sensing hardware. As a result, GelLink only requires one motor to actuate the three phalanges, and one camera to capture tactile signals along the entire finger. Overall, GelLink is a compact robotic finger that shows adaptability and robustness when performing grasping tasks. The integration of vision-based tactile sensors can significantly enhance the capabilities of underactuated fingers and potentially broaden their future usage. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_14887 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | GelLink: A Compact Multi-phalanx Finger with Vision-based Tactile Sensing and Proprioception Ma, Yuxiang Zhao, Jialiang Adelson, Edward Robotics Compared to fully-actuated robotic end-effectors, underactuated ones are generally more adaptive, robust, and cost-effective. However, state estimation for underactuated hands is usually more challenging. Vision-based tactile sensors, like Gelsight, can mitigate this issue by providing high-resolution tactile sensing and accurate proprioceptive sensing. As such, we present GelLink, a compact, underactuated, linkage-driven robotic finger with low-cost, high-resolution vision-based tactile sensing and proprioceptive sensing capabilities. In order to reduce the amount of embedded hardware, i.e. the cameras and motors, we optimize the linkage transmission with a planar linkage mechanism simulator and develop a planar reflection simulator to simplify the tactile sensing hardware. As a result, GelLink only requires one motor to actuate the three phalanges, and one camera to capture tactile signals along the entire finger. Overall, GelLink is a compact robotic finger that shows adaptability and robustness when performing grasping tasks. The integration of vision-based tactile sensors can significantly enhance the capabilities of underactuated fingers and potentially broaden their future usage. |
| title | GelLink: A Compact Multi-phalanx Finger with Vision-based Tactile Sensing and Proprioception |
| topic | Robotics |
| url | https://arxiv.org/abs/2403.14887 |