低成本气动指垫可调摩擦力，实现抓取与释放的灵活控制。
Structured Pneumatic Fingerpads for Actively Tunable Grip Friction
- 通过气压驱动改变表面结构，调节摩擦力。
- 摩擦力可调范围达2.8倍，响应迅速。
- 无需定制硬件，适配现有机械手，易修复。
可调摩擦的抓握表面能主动改变接触状态，实现高/低摩擦之间的切换，以适应抓取调整。摩擦可提升以稳固抓持，随后降低以实现轻柔释放（如交接）或在手中操控。近期基于软性气腔的可调摩擦表面设计虽已实现良好控制，但多数需复杂制造工艺和定制夹持器。本文提出一种实用的结构化指垫设计，材料成本低于1美元，修复仅需数秒，且易于集成至现有夹持器。该设计通过表面形貌变化实现摩擦调节：气压使内部腔体驱动柔性抓握面凸出或凹入，从而改变接触特性。我们通过测量两个独立驱动指垫夹持物体时的剪切力，评估其摩擦调节能力。结果表明，通过调节气压与时间，可使抓持物体的摩擦力变化达2.8倍。此外，还实现了宏观级锁合行为与压力感知的物体检测功能。
原文摘要 · Abstract (English)
Grip surfaces with tunable friction can actively modify contact conditions, enabling transitions between higher- and lower-friction states for grasp adjustment. Friction can be increased to grip securely and then decreased to gently release (e.g., for handovers) or manipulate in-hand. Recent friction-tuning surface designs using soft pneumatic chambers show good control over grip friction; however, most require complex fabrication processes and/or custom gripper hardware. We present a practical structured fingerpad design for friction tuning that uses less than $1 USD of materials, takes only seconds to repair, and is easily adapted to existing grippers. Our design uses surface morphology changes to tune friction. The fingerpad is actuated by pressurizing its internal chambers, thereby deflecting its flexible grip surface out from or into these chambers. We characterize the friction-tuning capabilities of our design by measuring the shear force required to pull an object from a gripper equipped with two independently actuated fingerpads. Our results show that varying actuation pressure and timing changes the magnitude of friction forces on a gripped object by up to a factor of 2.8. We demonstrate additional features including macro-scale interlocking behaviour and pressure-based object detection.
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