Texture Identification and Object Recognition Using a Soft Robotic Hand Innervated Bio-Inspired Proprioception
نویسندگان
چکیده
In this study, we innervated bio-inspired proprioception into a soft hand, facilitating robust perception of textures and object shapes. The tendon-driven finger with three joints, inspired by the human finger, was detailed. With tension sensors embedded in tendon that simulate Golgi organ body, 17 types can be identified under uncertain rotation angles actuator displacements. Four classifiers were used highest identification accuracy 98.3%. A three-fingered hand based on bionic developed. Its basic grasp capability tested experimentally. distinguish 10 objects vary shape top side grasp, accuracies 96.33% 96.00%, respectively. Additionally, for six close shapes, obtained an 97.69% scan-grasp method. This study offers novel solution texture recognition manipulators.
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ژورنال
عنوان ژورنال: Machines
سال: 2022
ISSN: ['2075-1702']
DOI: https://doi.org/10.3390/machines10030173