Ongaro Federico, Yoon ChangKyu, van den Brink Frank, Abayazid Momen, Oh Seung Hyun, Gracias David H, Misra Sarthak
Surgical Robotics Laboratory, Department of Biomechanical Engineering, MIRA-Institute for Biomedical Technology and Technical Medicine, University of Twente, The Netherlands.
Department of Materials Science and Engineering, Johns Hopkins University, Baltimore, USA.
Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. 2016 Jun;2016:299-304. doi: 10.1109/BIOROB.2016.7523642. Epub 2016 Jul 28.
In order to handle complex tasks in hard-to-reach environments, small-scale robots have to possess suitable dexterous and untethered control capabilities. The fabrication and manipulation of soft, small-scale grippers complying to these requirements is now made possible by advances in material science and robotics. In this paper, we use soft, small-scale grippers to demonstrate pick-and-place tasks. The precise remote control is obtained by altering both the magnetic field gradient and the temperature in the workspace. This allows us to regulate the position and grasping configuration of the soft thermally-responsive hydrogel-nanoparticle composite magnetic grippers. The magnetic closed-loop control achieves precise localization with an average region-of-convergence of the gripper of 0.12±0.05 mm. The micro-sized payload can be placed with a positioning error of 0.57±0.33 mm. The soft grippers move with an average velocity of 0.72±0.13 mm/s without a micro-sized payload, and at 1.09±0.07 mm/s with a micro-sized payload.
为了在难以到达的环境中处理复杂任务，小型机器人必须具备合适的灵巧且无束缚的控制能力。材料科学和机器人技术的进步使得符合这些要求的柔软小型夹具的制造和操作成为可能。在本文中，我们使用柔软的小型夹具来演示抓取和放置任务。通过改变工作空间中的磁场梯度和温度来实现精确的远程控制。这使我们能够调节柔软的热响应水凝胶-纳米颗粒复合磁性夹具的位置和抓取构型。磁性闭环控制实现了精确的定位，夹具的平均收敛区域为0.12±0.05毫米。微型负载的放置定位误差为0.57±0.33毫米。柔软夹具在没有微型负载时的平均移动速度为0.72±0.13毫米/秒，有微型负载时为1.09±0.07毫米/秒。
