Robot hands have been developing during the last few decades. There are many mechanical structures and analyti?cal methods for di erent hands. But many tough problems still limit robot hands to apply in homelike envir...Robot hands have been developing during the last few decades. There are many mechanical structures and analyti?cal methods for di erent hands. But many tough problems still limit robot hands to apply in homelike environment. The ability of grasping objects covering a large range of sizes and various shapes is fundamental for a home service robot to serve people better. In this paper, a new grasping mode based on a novel sucked?type underactuated(STU) hand is proposed. By combining the flexibility of soft material and the e ect of suction cups, the STU hand can grasp objects with a wide range of sizes, shapes and materials. Moreover, the new grasping mode is suitable for some situations where the force closure is failure. In this paper, we deduce the e ective range of sizes of objects which our hand using the new grasping mode can grasp. Thanks to the new grasping mode, the ratio of grasping size between the biggest object and the smallest is beyond 40, which makes it possible for our robot hand to grasp diverse objects in our daily life. For example, the STU hand can grasp a soccer(220 mm diameter, 420 g) and a fountain pen(9 mm diameter, 9 g). What’s more, we use the rigid body equilibrium conditions to analysis the force condition. Experiment evaluates the high load capacity, stability of the new grasping mode and displays the versatility of the STU hand. The STU hand has a wide range of applications especially in unstructured environment.展开更多
A versatile sensing platform employing inorganic MoS_(2) nanoflowers and organic poly(3,4-ethylene dioxythiophene):poly(styrene sulfonate)(PEDOT:PSS)has been investigated to develop the resistive and capacitive force-...A versatile sensing platform employing inorganic MoS_(2) nanoflowers and organic poly(3,4-ethylene dioxythiophene):poly(styrene sulfonate)(PEDOT:PSS)has been investigated to develop the resistive and capacitive force-sensitive devices.The microstructure of the sensing layer heightens the sensitivity and response time of the dual-mode pressure sensors by augmenting electron pathways and inner stress in response to mechanical stimuli.Consequently,the capacitive and resistive sensors exhibit sensitivities of 0.37 and 0.12 kPa^(-1),respectively,while demonstrating a remarkable response time of approximately 100 ms.Furthermore,it is noteworthy that the PEDOT:PSS layer exhibits excellent adhesion to polydimethylsiloxane(PDMS)substrates,which contributes to the development of highly robust force-sensitive sensors capable of enduring more than 10000loading/unloading cycles.The combination of MoS_(2)/PEDOT:PSS layers in these dual-mode sensors has shown promising results in detecting human joint movements and subtle physiological signals.Notably,the sensors have achieved a remarkable precision rate of 98%in identifying target objects.These outcomes underscore the significant potential of these sensors for integration into applications such as electronic skin and human-machine interaction.展开更多
基金National Natural Science Foundation of China(Grant Nos.U1613216,61573333)
文摘Robot hands have been developing during the last few decades. There are many mechanical structures and analyti?cal methods for di erent hands. But many tough problems still limit robot hands to apply in homelike environment. The ability of grasping objects covering a large range of sizes and various shapes is fundamental for a home service robot to serve people better. In this paper, a new grasping mode based on a novel sucked?type underactuated(STU) hand is proposed. By combining the flexibility of soft material and the e ect of suction cups, the STU hand can grasp objects with a wide range of sizes, shapes and materials. Moreover, the new grasping mode is suitable for some situations where the force closure is failure. In this paper, we deduce the e ective range of sizes of objects which our hand using the new grasping mode can grasp. Thanks to the new grasping mode, the ratio of grasping size between the biggest object and the smallest is beyond 40, which makes it possible for our robot hand to grasp diverse objects in our daily life. For example, the STU hand can grasp a soccer(220 mm diameter, 420 g) and a fountain pen(9 mm diameter, 9 g). What’s more, we use the rigid body equilibrium conditions to analysis the force condition. Experiment evaluates the high load capacity, stability of the new grasping mode and displays the versatility of the STU hand. The STU hand has a wide range of applications especially in unstructured environment.
基金supported by the Natural Science Foundation of Guangdong Province(Grant No.2021A1515010691)the College Innovation Team Project of Guangdong Province(Grant No.2021KCXTD042)Wuyi University-Hong Kong-Macao Joint Research and Development Fund(Grant No.2019WGALH06)。
文摘A versatile sensing platform employing inorganic MoS_(2) nanoflowers and organic poly(3,4-ethylene dioxythiophene):poly(styrene sulfonate)(PEDOT:PSS)has been investigated to develop the resistive and capacitive force-sensitive devices.The microstructure of the sensing layer heightens the sensitivity and response time of the dual-mode pressure sensors by augmenting electron pathways and inner stress in response to mechanical stimuli.Consequently,the capacitive and resistive sensors exhibit sensitivities of 0.37 and 0.12 kPa^(-1),respectively,while demonstrating a remarkable response time of approximately 100 ms.Furthermore,it is noteworthy that the PEDOT:PSS layer exhibits excellent adhesion to polydimethylsiloxane(PDMS)substrates,which contributes to the development of highly robust force-sensitive sensors capable of enduring more than 10000loading/unloading cycles.The combination of MoS_(2)/PEDOT:PSS layers in these dual-mode sensors has shown promising results in detecting human joint movements and subtle physiological signals.Notably,the sensors have achieved a remarkable precision rate of 98%in identifying target objects.These outcomes underscore the significant potential of these sensors for integration into applications such as electronic skin and human-machine interaction.
