无需触觉传感器，通过肢体反馈调节软夹爪接触力。
Two-Finger Soft Gripper Force Modulation via Kinesthetic Feedback
- 利用手指弯曲度差值控制接触力，无需触觉传感。
- 实测显示接触力与峰值拔出力随系数变化可调。
- 适合需柔顺控制的抓取场景，如易损物体操作。
本文研究了一种不依赖触觉传感器的双指软夹爪接触力调节方法。在先前接触检测研究基础上，假设一旦检测到手指与物体接触，只要保持手指弯曲度与接触瞬间弯曲度之间的期望差值，即可维持并调节接触力。该方法可同时应用于两指，实现对单个物体的同步控制。实验在真实物理设备上完成，验证了该方法的有效性，并量化了接触力与峰值拔出力随乘法因子设定值的变化关系。
原文摘要 · Abstract (English)
We investigate a method to modulate contact forces between the soft fingers of a two-finger gripper and an object, without relying on tactile sensors. This work is a follow-up to our previous results on contact detection. Here, our hypothesis is that once the contact between a finger and an object is detected, a controller that keeps a desired difference between the finger bending measurement and its bending at the moment of contact is sufficient to maintain and modulate the contact force. This approach can be simultaneously applied to both fingers while getting in contact with a single object. We successfully tested the hypothesis, and characterized the contact and peak pull-out force magnitude vs. the desired difference expressed by a multiplicative factor. All of the results are performed on a real physical device.
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