ArticleSensors (Basel, Switzerland)2024
Development and Investigation of a Grasping Analysis System with Two-Axis Force Sensors at Each of the 16 Points on the Object Surface for a Hardware-Based FinRay-Type Soft Gripper.
Article in Sensors (Basel, Switzerland), 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
What it found
Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.
The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.
Who cites it
0 citing papers in PubMed.
No citing paper in PubMed yet.
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
4 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
The FinRay soft gripper achieves passive enveloping grasping through its functional flexible structure, adapting to the contact configuration of the object to be grasped. However, variations in beam position and thickness lead to different behaviors, making it important to research the relationship between structure and force. Conventional research using FEM simulations has tested various virtual FinRay models but replicating phenomena such as buckling and slipping has been challenging. While hardware-based methods that involve installing sensors on the gripper and the object to analyze their states have been attempted, no studies have focused on the tangential contact force related to slipping. Therefore, we developed a 16-way object contact force measurement device incorporating two-axis force sensors into each of the 16 segmented objects and compared the normal and tangential components of the enveloping grasping force of the FinRay soft gripper under two types of contact friction conditions. In the first experiment, the proposed device was compared with a device containing a six-axis force sensor in one segmented object, confirming that the proposed device has no issues with measurement performance. In the second experiment, comparisons of the proposed device were made under various conditions: two contact friction states, three object contact positions, and two object motion states. The results demonstrated that the proposed device could decompose and analyze the grasping force into its normal and tangential components for each segmented object. Moreover, low friction conditions result in a wide contact area with lower tangential frictional force and a uniform normal pushing force, achieving effective enveloping grasping.
Indexed as
Identifiers
What OpenQuestion holds
Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.