EAGER: An Inexpensive Tactile Fingertip for Dexterous Manipulation

EAGER：用于灵巧操作的廉价触觉指尖

• 批准号: 1952598
• 负责人: Kevin Lynch
• 金额: $ 5.16万
• 依托单位: Northwestern University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2020
• 资助国家: 美国
• 起止时间: 2020-01-01 至 2020-09-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1952598&HistoricalAwards=false
• 关键词: EAGER; Inexpensive; Tactile; Fingertip; Dexterous

Robot hands fall short of the dexterity of human hands for several reasons. One reason is the lack of affordable high-performance contact and force sensors to provide sensation at the fingertips. This project is to develop a new inexpensive fingertip for robot hands, with the goal of enhancing their dexterity.? Specifically, the new fingertip will incorporate a consumer-grade miniature camera and a flexure mount to deliver three characteristics that are promising for enhancing dexterous manipulation: (1) a well-characterized relationship between the force applied to the fingertip and its deflection (i.e., stiffness); (2) high-resolution contact location sensing; and (3) high-resolution measurement of the forces and torques applied by the fingertip. To achieve these characteristics, the project is broken into four tasks: (1) the design and testing of a compact six-degree-of-freedom (6-dof) flexure exhibiting low hysteresis and stress relaxation, providing a consistent mapping between wrenches (forces and torques) applied to the flexure and its 6-dof displacement; ?(2) visual estimation of the 6-dof flexure displacement by the embedded camera, with a target resolution of better than 100 microns in linear displacement; (3) bench tests of flexure displacement sensing, wrench sensing, and contact location sensing, using our custom 5-dof stress-strain test robot, which provides ground-truth force sensing resolution of better than 0.01 N and motion resolution of better than 1 micron (linear) and 0.001 degrees (angular); and (4) initial validation of the utility of the sensor for dexterous manipulation in single-finger tasks.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.

机器人的手因几个原因而没有人类手的敏捷性。原因之一是缺乏负担得起的高性能接触和强制传感器无法在指尖提供感觉。该项目是为机器人手开发新的廉价指尖，以增强其灵巧性。具体而言，新的指尖将结合消费级的微型摄像头和一个弯曲安装座，以提供三个有望增强灵敏操作的特征：（1）在施加到指尖及其偏转的力之间具有良好的特征性关系（即刚度）； （2）高分辨率接触位置传感； （3）指尖施加的力和扭矩的高分辨率测量。为了实现这些特征，该项目分为四个任务：（1）紧凑的六度自由（6-DOF）挠曲的设计和测试表现出低滞后和压力放松，提供了扳手（力和扭矩）在弯曲及其6-DOF位移的扳手（部队和扭矩）之间的一致映射； ？（2）通过嵌入式摄像机对6-DOF挠性位移的视觉估计，目标分辨率在线性位移中的目标分辨率高于100微米； （3）使用我们的自定义的5-DOF应力 - 应激测试机器人进行弯曲位移感测，扳手感测和接触位置感测的基准测试，该机器人提供了比0.01 N的地面真相传感分辨率，并且运动分辨率优于1微米（线性）和0.001度（Angular）； （4）对单指任务中传感器对灵巧操作的实用性的初步验证。该奖项反映了NSF的法定任务，并且使用基金会的知识分子优点和更广泛的审查标准，被认为值得通过评估来获得支持。