- -

Tactile Sensing with Accelerometers in Prehensile Grippers for Robots

RiuNet: Institutional repository of the Polithecnic University of Valencia

Share/Send to

Cited by

Statistics

Tactile Sensing with Accelerometers in Prehensile Grippers for Robots

Show simple item record

Files in this item

dc.contributor.author Blanes Campos, Carlos es_ES
dc.contributor.author Mellado Arteche, Martín es_ES
dc.contributor.author Beltrán Beltrán, Pablo es_ES
dc.date.accessioned 2017-05-17T07:16:39Z
dc.date.available 2017-05-17T07:16:39Z
dc.date.issued 2016-02
dc.identifier.issn 0957-4158
dc.identifier.uri http://hdl.handle.net/10251/81248
dc.description This is the author’s version of a work that was accepted for publication in Mechatronics. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in Mechatronics, Vol. 33, (2016)] DOI 10.1016/j.mechatronics.2015.11.007. es_ES
dc.description.abstract Several pneumatic grippers with accelerometers attached to their fingers have been developed and tested. The first gripper is able to classify the hardness of different cylinders, estimate the pneumatic pressure, monitor the position and speed of the gripper fingers, and study the phases of the action of grasping and the influence of the relative position between the gripper and the cylinders. The other grippers manipulate and assess the firmness of eggplants and mangoes. To achieve a gentle manipulation, the grippers employ fingers with several degrees of freedom in different configurations and have a membrane filled with a fluid that allows their hardness to be controlled by means of the jamming transition of the granular fluid inside it. To assess the firmness of eggplants and mangoes and avoid the influence of the relative position between product and gripper, the firmness is estimated while the products are being held by the fingers. Better performance of the accelerometers is achieved when the finger employs the granular fluid. The article presents methods for designing grippers capable of assessing the firmness of irregular products with accelerometers. At the same time, it also studies the possibilities that accelerometers, attached to different pneumatic robot gripper fingers, offer as tactile sensors. (C) 2015 Elsevier Ltd. All rights reserved. es_ES
dc.description.sponsorship This research is supported by the MANI-DACSA project (Grant number RTA2012-00062-C04-02), which is partially funded by the Spanish Government (Ministerio de Economia y Competitividad.). en_EN
dc.language Inglés es_ES
dc.publisher Elsevier es_ES
dc.relation info:eu-repo/grantAgreement/MINECO//RTA2012-00062-C04-02/ES/Nuevas técnicas de manipulación usando sensorización integrada para la estimación de propiedades y determinación automática de la calidad y sanidad de la producción agroalimentaria en líneas de inspección y manipulación (MANI-DACSA)/ es_ES
dc.relation.ispartof Mechatronics es_ES
dc.rights Reserva de todos los derechos es_ES
dc.subject Tactile sensing es_ES
dc.subject Gripper es_ES
dc.subject Grasp contact es_ES
dc.subject Hardness es_ES
dc.subject Pick and place es_ES
dc.subject Accelerometer es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.title Tactile Sensing with Accelerometers in Prehensile Grippers for Robots es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1016/j.mechatronics.2015.11.007
dc.rights.accessRights Abierto es_ES
dc.contributor.affiliation Universitat Politècnica de València. Escola Tècnica Superior d'Enginyeria Informàtica es_ES
dc.description.bibliographicCitation Blanes Campos, C.; Mellado Arteche, M.; Beltrán Beltrán, P. (2016). Tactile Sensing with Accelerometers in Prehensile Grippers for Robots. Mechatronics. 33:1-12. https://doi.org/10.1016/j.mechatronics.2015.11.007 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion http://dx.doi.org/10.1016/j.mechatronics.2015.11 es_ES
dc.description.upvformatpinicio 1 es_ES
dc.description.upvformatpfin 12 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 33 es_ES
dc.relation.senia 299972 es_ES
dc.contributor.funder Ministerio de Economía y Competitividad es_ES


This item appears in the following Collection(s)

Show simple item record