ArticleSensors (Basel, Switzerland)2024
Design and Experimental Test of Rope-Driven Force Sensing Flexible 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. Cited by 1 paper.
What it found
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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.
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Who cites it
1 citing paper in PubMed.
- Design of Dielectric Elastomer Actuator and Its Application in Flexible Gripper.Micromachines · 2025Article
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
Abstract
Robotic grasping is a common operation scenario in industry and agriculture, in which the force sensing function is a significant factor to achieve reliable grasping. Existing force sensing methods of flexible grippers require intelligent materials or force sensors embedded in the flexible gripper, which causes such problems of higher manufacturing requirements and contact surface properties changing. In this paper, a novel rope-driven force sensing flexible gripper is designed based on the fin-shaped gripper structure, which can realize the grasping sensing functions of contact nodes and contact forces without the need for force sensors. Firstly, the rope-driven force sensing flexible gripper is designed, including the driving unit, the transmission part, the gripper unit, and the force sensing unit. The force sensing unit and the gripper unit are connected by rope, and the prototype of the rope-driven force sensing flexible gripper is completed. Secondly, a force sensing algorithm and control system based on finite element method and grasping geometric relationship are designed to realize the rope-driven force sensing flexible gripper grasping control and sensor data acquisition and processing. Finally, the experimental system of the rope-driven force sensing flexible gripper is built, and the grasping experimental tests of objects with different diameters and different contact nodes are carried out to verify the force sensing function of the rope-driven force sensing flexible gripper. The force sensing flexible gripper designed in this paper can provide a new idea for the design and force sensing method of intelligent robotic grasping system in robotic teaching, scientific research, and industrial applications.
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Registered trials
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