Gharibi Armin, Costa Filippo, Genovesi Simone
Department of Information Engineering, University of Pisa, 56123 Pisa, Italy.
Sensors (Basel). 2024 Aug 18;24(16):5340. doi: 10.3390/s24165340.
In order to perform complex manipulation and grasp tasks, robotic hands require sensors that can handle increasingly demanding functionality and degrees of freedom. This research paper proposes a radiofrequency sensor that uses a wireless connection between a probe and a tag. A compact and low-profile antenna is mounted on the hand and functions as a probe to read a printed passive resonator on the plastic object being targeted, operating within a pre-touch sensing range. The grasping strategy consists of four stages that involve planar alignment in up-to-down and left-to-right directions between the probe and tag, the search for an appropriate distance from the object, and rotational (angular) alignment. The real and imaginary components of the probe-input impedance are analyzed for different orientation strategies and positioning between the resonator on the object and the probe. These data are used to deduce the orientation of the hand relative to the target object and to determine the optimal position for grasping.
为了执行复杂的操作和抓取任务，机器人手需要能够处理日益复杂的功能和自由度的传感器。本研究论文提出了一种射频传感器，该传感器利用探头与标签之间的无线连接。一个紧凑且低剖面的天线安装在手上，用作探头，以读取目标塑料物体上打印的无源谐振器，在预触摸传感范围内工作。抓取策略包括四个阶段，涉及探头与标签在上下和左右方向上的平面校准、寻找与物体的合适距离以及旋转（角度）校准。针对物体上的谐振器与探头之间的不同定向策略和定位，分析探头输入阻抗的实部和虚部。这些数据用于推断手相对于目标物体的方向，并确定抓取的最佳位置。
