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Experimental Investigation of a Biologically Inspired Gripper with Active Haptic Control for Geometric Compliancy

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Informatics in Control, Automation and Robotics (ICINCO 2018)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 613))

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Abstract

Human-machine interaction for object manipulation in assembly environments is enhanced through the haptic feedback. The sensitivity of grasping fragile components is achieved through force feedback control for an active haptic sensory system for grippers. Intelligent gripping systems employing haptic control has the potential to be implemented in Reconfigurable Assembly Systems and on-demand production lines. Successful object handling and object control of a biologically inspired gripping system incorporating active haptic control were investigated. The proposed system was designed to evaluate adaptability and object conformity of the gripper grasping force through a dynamic pick-and-place procedure. The grasping procedure employed a haptic feedback control sensory system to monitor the force output of the grasping procedure and manipulate grip hold intensity. The force output data was empirically gathered and formulated to be expressed on a signal versus time graph to illustrate self-conformity and grasping stabilization of the gripper system. Recommendations and conclusions were expressed in relation to effective grip force control.

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Author information

Authors and Affiliations

  1. University of KwaZulu-Natal, Durban, 4001, South Africa

    Christian Ivan Basson & Glen Bright

Authors
  1. Christian Ivan Basson
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  2. Glen Bright
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Corresponding author

Correspondence to Christian Ivan Basson .

Editor information

Editors and Affiliations

  1. Ford Research and Advanced Engineer, Dearborn, MI, USA

    Oleg Gusikhin

  2. University of Paris-EST Créteil (UPEC), Créteil, France

    Kurosh Madani

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Basson, C.I., Bright, G. (2020). Experimental Investigation of a Biologically Inspired Gripper with Active Haptic Control for Geometric Compliancy. In: Gusikhin, O., Madani, K. (eds) Informatics in Control, Automation and Robotics. ICINCO 2018. Lecture Notes in Electrical Engineering, vol 613. Springer, Cham. https://doi.org/10.1007/978-3-030-31993-9_12

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