Implementation of tactile sensors on a 3-Fingers RobotiqÂ®adaptive gripper and visualization in VR using Arduino controller

Pelliccia, Luigi; Schumann, Marco; Dudczig, Manuel; Lamonaca, Michele; Klimant, Philipp; Di Gironimo, Giuseppe

doi:10.1016/j.procir.2017.12.208

Tactile sensors are essential components for the implementation of complex manipulation tasks using robot grippers, allowing to directly control the grasping force according to the object properties. Virtual Reality represents an effective tool capable of visualizing complex systems in full details and with a high level of interactivity. After the implementation of cost-effective tactile arrays on a 3-finger Robotiq® gripper using an ARDUINO controller, it is presented an innovative VR interface capable of visualizing the pressure values at the fingertips in a 3D environment, providing an effective tool aimed at supporting the programming and the visualization of the gripper VR.

Implementation of tactile sensors on a 3-Fingers RobotiqÂ®adaptive gripper and visualization in VR using Arduino controller / Pelliccia, Luigi; Schumann, Marco; Dudczig, Manuel; Lamonaca, Michele; Klimant, Philipp; Di Gironimo, Giuseppe. - 67:(2018), pp. 250-255. (Intervento presentato al convegno 11th CIRP International Conference on Intelligent Computation in Manufacturing Engineering, CIRP ICME 2017 tenutosi a Ischia, Naples, Italy nel 19 - 21 July 2017) [10.1016/j.procir.2017.12.208].