NRI: INT: COLLAB: Soft Active Contact Pads with Tunable Stiffness and Adhesion for Customizable Robotic Grasping

NRI：INT：COLLAB：具有可调节刚度和粘附力的软主动接触垫，用于可定制的机器人抓取

• 批准号: 1830475
• 负责人: Kevin Turner
• 金额: $ 37.2万
• 依托单位: University of Pennsylvania
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2018
• 资助国家: 美国
• 起止时间: 2018-09-15 至 2024-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1830475&HistoricalAwards=false
• 关键词: NRI; INT; COLLAB; Soft; Active

As robots have a greater presence in our personal, public, and working environments, they must be equipped for a broad range of manipulation tasks and physical encounters. For many of these activities, such robots must be able to grasp a wide variety of everyday objects or be capable of physical interactions with humans or other robots. While there are robotic grippers ("end effectors") well-suited for specific tasks, progress in cooperative robotics has been limited by a lack of "universal" gripping systems that can handle a diverse set of objects. Universal gripping systems have the potential to dramatically improve robot performance and reduce costs by decreasing the number of end effectors that a robot needs for general purpose functionality. This National Robotics Initiative (NRI) project will address this critical need by creating new material architectures that enable universal robotic grasping. This will be accomplished by using materials that are capable of changing their mechanical properties such as stiffness and adhesion, and incorporating these materials into contact pads that the robot will use for gripping. This work will promote domestic economic growth and well-being by impacting multiple sectors in which cooperative robots will have an important role, including manufacturing, aerospace, agriculture, elderly care, and rehabilitation. This project will also contribute to educational outreach through middle/high school student workshops and science events that will inspire students to learn more about the role of materials in soft and human-friendly robotics. The ultimate goal of this project is to realize a customizable robotic gripper that can operate in a broad range of contexts. To achieve this, the research team will pursue the following three interrelated research objectives. The first is to investigate the interplay between material stiffness, surface geometry, and the loading conditions that typically arise during robotic manipulation. This will include the development of adhesion-controlled robotic grasping approaches that exploit materials and structures with tunable stiffness and adhesion. The second objective is to engineer active contact pads that allow for high adhesive gripping forces and also high adhesion tunability. These pads will exploit a careful understanding of how material properties influence the distribution of mechanical stresses between contacting surfaces. The third objective is to integrate the soft contact pads into robotic end-effectors or the fingertips of a robotic hand. As part of this effort, the team will demonstrate enhancements in gripping performance and versatility through a comparative study involving objects with a broad range of shapes, sizes, weights, and mechanical properties.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

由于机器人在我们的个人，公共和工作环境中具有更大的影响力，因此必须配备各种操纵任务和物理遭遇。 对于许多此类活动，此类机器人必须能够掌握各种各样的日常物体，或能够与人类或其他机器人进行身体互动。尽管有适合特定任务的机器人抓手（“最终效应器”），但合作机器人技术的进展受到缺乏可以处理各种物体集合的“通用”吸引系统的限制。通用夹具系统有可能通过减少机器人对通用功能所需的最终效应子的数量来大大提高机器人性能并降低成本。这项国家机器人倡议（NRI）项目将通过创建实现通用机器人握把的新材料体系结构来满足这一关键需求。这将通过使用能够更改其机械性能（例如刚度和粘附）的材料来完成，并将这些材料纳入机器人将用于抓地力的接触垫中。这项工作将通过影响合作机器人将发挥重要作用的多个部门来促进国内经济增长和福祉，包括制造业，航空航天，农业，老年护理和康复。该项目还将通过中/高中学生的研讨会和科学活动为教育宣传做出贡献，这将激发学生更多地了解材料在柔软和人类友好的机器人技术中的作用。该项目的最终目标是实现一个可自定义的机器人抓手，可以在各种环境中运作。为了实现这一目标，研究团队将追求以下三个相互关联的研究目标。 首先是研究材料刚度，表面几何形状和通常在机器人操作期间出现的负载条件之间的相互作用。这将包括开发具有可调刚度和粘附的材料和结构的粘附控制机器人抓钩方法。 第二个目标是设计可允许高粘合力的力量和高粘附可调性的主动接触板。这些垫子将仔细了解材料特性如何影响接触表面之间的机械应力分布。 第三个目标是将软接触垫整合到机器人最终效果或机器人手的指尖中。作为这项工作的一部分，团队将通过比较性研究来展示具有各种形状，大小，权重和机械属性的对象的抓地力和多功能性。该奖项反映了NSF的法定任务，并被认为是通过基金会的知识分子和宽广的影响来评估的支持，并被认为是值得的。

项目成果

Geometric optimization of pillars for enhanced adhesion

• DOI: 10.1016/j.eml.2023.101969
• 发表时间: 2023-01
• 期刊: Extreme Mechanics Letters
• 影响因子: 4.7
• 作者: Sumukh S. Pande;K. Turner

Versatile Soft Robot Gripper Enabled by Stiffness and Adhesion Tuning via Thermoplastic Composite

通过热塑性复合材料调节刚度和粘附力的多功能软机器人夹具

• DOI: 10.1089/soro.2020.0088
• 发表时间: 2021
• 期刊: Soft Robotics
• 影响因子: 7.9
• 作者: Coulson, Ryan;Stabile, Christopher J.;Turner, Kevin T.;Majidi, Carmel
• 通讯作者: Majidi, Carmel

Materials with Electroprogrammable Stiffness

• DOI: 10.1002/adma.202007952
• 发表时间: 2021-07-09
• 期刊: ADVANCED MATERIALS
• 影响因子: 29.4
• 作者: Levine, David J.;Turner, Kevin T.;Pikul, James H.
• 通讯作者: Pikul, James H.

The Role of Stiffness in Versatile Robotic Grasping

刚度在多功能机器人抓取中的作用

• DOI: 10.1109/lra.2022.3149036
• 发表时间: 2022
• 期刊: IEEE Robotics and Automation Letters
• 影响因子: 5.2
• 作者: Stabile, Christopher J.;Levine, David J.;Iyer, Gokulanand M.;Majidi, Carmel;Turner, Kevin T.
• 通讯作者: Turner, Kevin T.

Active Membranes on Rigidity Tunable Foundations for Programmable, Rapidly Switchable Adhesion

• DOI: 10.1002/admt.202000676
• 发表时间: 2020-09
• 期刊: Advanced Materials Technologies
• 影响因子: 6.8
• 作者: Matthew D. Swift;Cole B. Haverkamp;C. J. Stabile;Dohgyu Hwang;R. Plaut;K. Turner;D. Dillard;Michael D. Bartlett