The PRISMA Hand II is a mechanically robust anthropomorphic hand developed at PRISMA Lab, University of Naples Federico II. The hand is highly underactuated, three motors drive 19 joints via elastic tendons. Thanks to its particular mechanical design, the hand can perform not only adaptive grasps but also in-hand manipulation. Each fingertip integrates a tactile/force sensor, based on optoelectronic technology, to provide tactile/force feedback during grasping and manipulation, particularly useful with deformable objects. The paper briefly describes the mechanical design and sensor technology of the hand and proposes a calibration procedure for tactile/force sensors. A comparison between different models of Neural Networks architectures, suitable for sensors calibration, is shown. Experimental tests are provided to choose the optimal tactile sensing suite. Finally, experiments for the regulation of the forces are made to show the effectiveness of calibrated sensors.

Calibration of tactile/force sensors for grasping with the PRISMA Hand II / Canbay, D. E.; Ferrentino, P.; Liu, H.; Moccia, R.; Pirozzi, S.; Siciliano, B.; Ficuciello, F.. - 2021-:(2021), pp. 442-447. (Intervento presentato al convegno 2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021 tenutosi a nld nel 2021) [10.1109/AIM46487.2021.9517508].

Calibration of tactile/force sensors for grasping with the PRISMA Hand II

Ferrentino P.;Siciliano B.;Ficuciello F.
2021

Abstract

The PRISMA Hand II is a mechanically robust anthropomorphic hand developed at PRISMA Lab, University of Naples Federico II. The hand is highly underactuated, three motors drive 19 joints via elastic tendons. Thanks to its particular mechanical design, the hand can perform not only adaptive grasps but also in-hand manipulation. Each fingertip integrates a tactile/force sensor, based on optoelectronic technology, to provide tactile/force feedback during grasping and manipulation, particularly useful with deformable objects. The paper briefly describes the mechanical design and sensor technology of the hand and proposes a calibration procedure for tactile/force sensors. A comparison between different models of Neural Networks architectures, suitable for sensors calibration, is shown. Experimental tests are provided to choose the optimal tactile sensing suite. Finally, experiments for the regulation of the forces are made to show the effectiveness of calibrated sensors.
2021
978-1-6654-4139-1
Calibration of tactile/force sensors for grasping with the PRISMA Hand II / Canbay, D. E.; Ferrentino, P.; Liu, H.; Moccia, R.; Pirozzi, S.; Siciliano, B.; Ficuciello, F.. - 2021-:(2021), pp. 442-447. (Intervento presentato al convegno 2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021 tenutosi a nld nel 2021) [10.1109/AIM46487.2021.9517508].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11588/867277
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