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学者姓名：崔晶
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Abstract ：
The automation and assembly lines of factories have faced the need for reliable handling of porous, fragile, and soft objects. Current soft grippers have difficulty robustly grasping flat, flexible surfaces without distorting them. This paper proposes a soft gripper based on annulus microwedge adhesive for grasping flat objects using negative pressure actuation mechanisms, which can achieve controllable adhesives to reliably grasp and easily release smooth flat objects. This is achieved through negative pressure actuation, which provides a centripetal load to the annular microwedge adhesives for strong attachment, by returning to normal pressure, the centripetal load is rapidly removed, allowing for easy detachment from the adhesive surface. Additionally, the relationship between the geometrical parameters of the deformation chamber and the contact area of annulus microwedges is investigated by using finite-element method models and experiments. The results show that the wall thickness is a key parameter in designing the deformation chamber. The results of the payload test have determined the geometrical and pressure parameters of the deformation chamber with the best adhesion performance. Finally, a demonstration shows that the gripper can handle various objects for potential applications, such as in clean environmental industries.
Keyword ：
Microwedge adhesives gecko adhesives negative-pressure actuation soft gripper Microwedge adhesives gecko adhesives negative-pressure actuation soft gripper
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| GB/T 7714 | Liu, Huimin , Cui, Jing , Jin, Xi et al. Design of a soft gripper with negative-pressure actuated synthetic annulus microwedge adhesive [J]. | JOURNAL OF ADHESION SCIENCE AND TECHNOLOGY , 2024 . |
| MLA | Liu, Huimin et al. "Design of a soft gripper with negative-pressure actuated synthetic annulus microwedge adhesive" . | JOURNAL OF ADHESION SCIENCE AND TECHNOLOGY (2024) . |
| APA | Liu, Huimin , Cui, Jing , Jin, Xi , Su, Jiejiang , Chu, Zhongyi . Design of a soft gripper with negative-pressure actuated synthetic annulus microwedge adhesive . | JOURNAL OF ADHESION SCIENCE AND TECHNOLOGY , 2024 . |
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Abstract ：
This study presents a soft gripper incorporating a novel belt loop actuated adhesion design, offering a comprehensive solution for the fabrication, variable-scale actuation, and contact sensing of directional adhesives. The solution facilitates high-resolution control of directional adhesives with relatively low device requirements. On this basis, the gripper adopts a minimal interaction force actuation strategy, thereby enabling the maximum gentleness in handling objects. The gripper has demonstrated its non-destructiveness and efficiency on various fragile flat objects. Additionally, the sensing capabilities for adhesive pairs allow it to percept and handle unlocated objects.
Keyword ：
Grippers and other end-effectors Grippers and other end-effectors perception for grasping and manipulation perception for grasping and manipulation
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| GB/T 7714 | Chen, Gen , Wu, Junsong , Zhang, Zijian et al. A Soft Robotic Gripper With a Belt Loop Actuated Adhesion Design for Gentle Handling of Fragile Object [J]. | IEEE ROBOTICS AND AUTOMATION LETTERS , 2024 , 9 (8) : 6784-6791 . |
| MLA | Chen, Gen et al. "A Soft Robotic Gripper With a Belt Loop Actuated Adhesion Design for Gentle Handling of Fragile Object" . | IEEE ROBOTICS AND AUTOMATION LETTERS 9 . 8 (2024) : 6784-6791 . |
| APA | Chen, Gen , Wu, Junsong , Zhang, Zijian , Zhang, Bolun , Chu, Zhongyi , Cui, Jing . A Soft Robotic Gripper With a Belt Loop Actuated Adhesion Design for Gentle Handling of Fragile Object . | IEEE ROBOTICS AND AUTOMATION LETTERS , 2024 , 9 (8) , 6784-6791 . |
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Abstract ：
This paper introduces an innovative methodology designed for intrinsic sensing of the adhesion state in directional dry adhesives. Rooted in the inherent shear actuation requirements of these adhesives, the sensing framework incorporates an elastic beam model for a single seta and an equivalent spring model for setae arrays during actuation, facilitating the transformation of complex micro -scale contact issues into relatively simple mechanical measurements. Using microwedge adhesives as a representative case study, the methodology is validated by a series of quantitative experiments and an experimental robotic gripper scenario, in which a straightforward and cost-effective commercial strain gauge proves competent for complex contact state sensing. The proposed methodology indicates substantial implications for improving the operational performance and expanding the application range of gecko -inspired adhesive operations.
Keyword ：
Adhesion stiffness Adhesion stiffness Contact state sensing Contact state sensing Robotic gripper Robotic gripper Directional dry adhesives Directional dry adhesives
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| GB/T 7714 | Chen, Gen , Zhang, Zijian , Wu, Junsong et al. A novel methodology for intrinsic adhesion state sensing in gecko-inspired directional dry adhesives [J]. | SENSORS AND ACTUATORS A-PHYSICAL , 2024 , 374 . |
| MLA | Chen, Gen et al. "A novel methodology for intrinsic adhesion state sensing in gecko-inspired directional dry adhesives" . | SENSORS AND ACTUATORS A-PHYSICAL 374 (2024) . |
| APA | Chen, Gen , Zhang, Zijian , Wu, Junsong , Zhang, Bolun , Chu, Zhongyi , Cui, Jing . A novel methodology for intrinsic adhesion state sensing in gecko-inspired directional dry adhesives . | SENSORS AND ACTUATORS A-PHYSICAL , 2024 , 374 . |
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Abstract ：
A key challenge in robotics is developing efficient methods for grasping objects of different shapes, sizes, poses, and properties. In this study, we propose a positive pressure actuation gripper that combination of annular microwedge adhesion and particle jamming. The gripper comprises an elastic membrane enclosing a mass of granular material, allowing for control of the backing stiffness during contact. In the inflated state, the elastic membrane is stretched, generating centripetal loading force for annular microwedge adhesion. By transitioning into a negative pressure jammed state, a rigid backing stiffness is achieved to maintain adhesion stability, later reverting to atmospheric pressure enables the gripper to release the object. Consequently, this gripper through annular microwedge adhesion offers controllable adhesion for grip and release a wide range of objects that are typically challenging for current soft grippers, such as flat objects, soft objects, or objects with complex geometries. We fabricate the positive pressure actuation gripper and clarify its working mechanism for both flat and curved surfaces. Furthermore, a theoretical analysis is carried out to calculate the frictional stress of the elastic membrane when it is in contact with an object. Experimental results on contact area demonstrate the feasibility of positive pressure actuation mechanism for annulus microwedge adhesion. The payload test determines the parameters of the elastic membrane with the best adhesion performance. The final demonstration shows the applicability of this soft gripper in various scenarios.
Keyword ：
controllable adhesion controllable adhesion soft gripper soft gripper jamming jamming positive pressure actuation positive pressure actuation
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| GB/T 7714 | Liu, Huimin , Cui, Jing , Zhang, Bolun et al. A particle jamming soft gripper integration of annular microwedge adhesion [J]. | SMART MATERIALS AND STRUCTURES , 2024 , 33 (7) . |
| MLA | Liu, Huimin et al. "A particle jamming soft gripper integration of annular microwedge adhesion" . | SMART MATERIALS AND STRUCTURES 33 . 7 (2024) . |
| APA | Liu, Huimin , Cui, Jing , Zhang, Bolun , Li, Minghao , Cai, Jiazhen , Chu, Zhongyi . A particle jamming soft gripper integration of annular microwedge adhesion . | SMART MATERIALS AND STRUCTURES , 2024 , 33 (7) . |
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Abstract ：
Purpose - Accurate segmentation of artificial assembly action is the basis of autonomous industrial assembly robots. This paper aims to study the precise segmentation method of manual assembly action. Design/methodology/approach - In this paper, a temporal-spatial-contact features segmentation system (TSCFSS) for manual assembly actions recognition and segmentation is proposed. The system consists of three stages: spatial features extraction, contact force features extraction and action segmentation in the temporal dimension. In the spatial features extraction stage, a vectors assembly graph (VAG) is proposed to precisely describe the motion state of the objects and relative position between objects in an RGB-D video frame. Then graph networks are used to extract the spatial features from the VAG. In the contact features extraction stage, a sliding window is used to cut contact force features between hands and tools/parts corresponding to the video frame. Finally, in the action segmentation stage, the spatial and contact features are concatenated as the input of temporal convolution networks for action recognition and segmentation. The experiments have been conducted on a new manual assembly data set containing RGB-D video and contact force.Findings - In the experiments, the TSCFSS is used to recognize 11 kinds of assembly actions in demonstrations and outperforms the other comparative action identification methods.Originality/value - A novel manual assembly actions precisely segmentation system, which fuses temporal features, spatial features and contact force features, has been proposed. The VAG, a symbolic knowledge representation for describing assembly scene state, is proposed, making action segmentation more convenient. A data set with RGB-D video and contact force is specifically tailored for researching manual assembly actions.
Keyword ：
Multimodal perception Multimodal perception Action segmentation Action segmentation Learning from demonstration Learning from demonstration Assembly Assembly
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| GB/T 7714 | Kang, Zengxin , Cui, Jing , Chu, Zhongyi . Manual assembly actions segmentation system using temporal-spatial-contact features [J]. | ROBOTIC INTELLIGENCE AND AUTOMATION , 2023 , 43 (5) : 509-522 . |
| MLA | Kang, Zengxin et al. "Manual assembly actions segmentation system using temporal-spatial-contact features" . | ROBOTIC INTELLIGENCE AND AUTOMATION 43 . 5 (2023) : 509-522 . |
| APA | Kang, Zengxin , Cui, Jing , Chu, Zhongyi . Manual assembly actions segmentation system using temporal-spatial-contact features . | ROBOTIC INTELLIGENCE AND AUTOMATION , 2023 , 43 (5) , 509-522 . |
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Abstract ：
本发明公开了一种触觉传感器及其制备方法及力和/或力矩的测量装置，其中，触觉传感器由上至下依次包括：上层基板、上层电极、电介质层、下层电极和下层基板，可用于感应正压力、剪切力和力矩。本发明通过设置镜像相对且阵列式对称分布的多对叉指电极作为上层电极及下层电极，实现了基于单层结构的多维力和/或力矩的高灵敏度感应，且提高了对法向正压力的空间分辨能力。通过采用压膜成型的方法阵列式扩展电介质层，降低了触觉传感器的制备成本，且简化了其制备工艺。通过将触觉传感器与处理器连接，利用处理器根据触觉传感器的传感信号确定受力类型，并计算得到相应的力和/或力矩的值，实现了对多维力和/或力矩的测量。
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| GB/T 7714 | 崔晶 , 冯凯明 , 王易捷 et al. 一种触觉传感器及其制备方法及力和/或力矩的测量装置 : CN202111024983.9[P]. | 2021-09-02 . |
| MLA | 崔晶 et al. "一种触觉传感器及其制备方法及力和/或力矩的测量装置" : CN202111024983.9. | 2021-09-02 . |
| APA | 崔晶 , 冯凯明 , 王易捷 , 楚中毅 , 胡智凯 . 一种触觉传感器及其制备方法及力和/或力矩的测量装置 : CN202111024983.9. | 2021-09-02 . |
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Abstract ：
本发明公开一种负压驱动环状微楔形刚毛束吸盘及其制备方法，涉及环状微楔形刚毛束吸盘技术领域，吸盘包括吸盘本体，吸盘本体的中部开设有负压腔，负压腔顶部与真空气路连接；负压腔的底部设置有变形层，吸盘本体的底部设置有环状微楔形刚毛束，变形层位于环状微楔形刚毛束的中部。制备方法包括选取模具材料；机械加工制备模具，在模具表面加工出环状微楔形结构；将液体硅胶材料浇注在模具上具有环状微楔形结构的区域，经真空脱气泡处理；将吸盘本体的底部覆盖于模具表面上，常温下待液体硅胶完全固化后，将吸盘本体从模具表面移除，或将环状微楔形刚毛束通过胶水粘贴于吸盘本体的底部。本发明实现环状微楔形刚毛束的平稳切向加载、卸载的过程。
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| GB/T 7714 | 崔晶 , 刘慧敏 , 楚中毅 et al. 一种负压驱动环状微楔形刚毛束吸盘及其制备方法 : CN202110093089.0[P]. | 2021-01-25 . |
| MLA | 崔晶 et al. "一种负压驱动环状微楔形刚毛束吸盘及其制备方法" : CN202110093089.0. | 2021-01-25 . |
| APA | 崔晶 , 刘慧敏 , 楚中毅 , 孙立宁 . 一种负压驱动环状微楔形刚毛束吸盘及其制备方法 : CN202110093089.0. | 2021-01-25 . |
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Abstract ：
本发明涉及一种工业机器人广义运动学误差的运动学校准方法及系统。所述方法包括：构建待辨识机器人的关节和几何误差模型并根据两误差模型确定广义运动学误差模型；对广义运动学误差模型进行参数辨识得到辨识后的误差模型；在当前迭代次数下，获取待辨识机器人的名义关节指令和当前迭代次数下补偿后的关节指令；基于名义关节指令、辨识后的误差模型和当前迭代次数下补偿后的关节指令得到当前迭代次数下的关节指令误差矩阵；判断当前迭代次数下的关节指令误差矩阵的二范数是否小于设定容差；若是，则确定当前迭代次数下补偿后的关节指令为最终的关节指令；若否，则更新下次迭代次数下补偿后的关节指令。本发明可以提高校准后工业机器人的运动。
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| GB/T 7714 | 崔晶 , 李洋 , 楚中毅 et al. 工业机器人广义运动学误差的运动学校准方法及系统 : CN202111494818.X[P]. | 2021-12-08 . |
| MLA | 崔晶 et al. "工业机器人广义运动学误差的运动学校准方法及系统" : CN202111494818.X. | 2021-12-08 . |
| APA | 崔晶 , 李洋 , 楚中毅 , 张玉洁 . 工业机器人广义运动学误差的运动学校准方法及系统 : CN202111494818.X. | 2021-12-08 . |
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Abstract ：
本发明公开一种基于带驱动楔形刚毛束的干黏附机构，涉及黏附机构技术领域，包括支撑外框架、楔形刚毛束单元、带驱动切向加载单元、传动单元、位移‑力转换单元和法向驱动单元；楔形刚毛束单元接触并黏附目标物，传动单元一端与楔形刚毛束单元连接，另一端与位移‑力转换单元连接，传动单元还与法向驱动单元连接；法向驱动单元产生驱动位移和驱动力，传动单元用于将驱动位移和驱动力转化为传动单元内的张力，传动单元将张力传给楔形刚毛束单元；带驱动切向加载单元位于楔形刚毛束单元的上方，支持切向加载和卸载。本发明实现楔形刚毛束的平稳切向加载和卸载，降低机构制作难度，增加可行性，满足柔性电路板、柔性薄膜等的可靠稳定拾取应用需求。
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| GB/T 7714 | 伍俊松 , 崔晶 , 楚中毅 et al. 一种基于带驱动楔形刚毛束的干黏附机构 : CN202110312253.2[P]. | 2021-03-24 . |
| MLA | 伍俊松 et al. "一种基于带驱动楔形刚毛束的干黏附机构" : CN202110312253.2. | 2021-03-24 . |
| APA | 伍俊松 , 崔晶 , 楚中毅 , 张博伦 , 陈根 . 一种基于带驱动楔形刚毛束的干黏附机构 : CN202110312253.2. | 2021-03-24 . |
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Abstract ：
本发明公开一种基于楔形刚毛束的变刚度末端执行器，涉及软体末端执行器技术领域，包括楔形刚毛束单元、切向加载脱附单元、变刚度单元和外框单元；外框单元包括外框，外框的顶部用于连接外连机构；变刚度单元包括连接块和软袋，连接块连接有驱动装置，驱动装置安装于外框内，软袋安装于连接块上，软袋内填充有颗粒物；连接块上设置气管接头，气管接头与软袋连通，用于使软袋内产生负压；切向加载脱附单元包括拉伸弹簧，拉伸弹簧的一端与外框连接，另一端与连接块连接；楔形刚毛束单元包括楔形刚毛束，楔形刚毛束安装于软袋上，楔形刚毛束用于接触并粘附目标物。本发明增加楔形刚毛束的接触面积，实现对楔形刚毛束稳定的切向加载、卸载。
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| GB/T 7714 | 崔晶 , 李明昊 , 楚中毅 et al. 一种基于楔形刚毛束的变刚度末端执行器 : CN202110093097.5[P]. | 2021-01-25 . |
| MLA | 崔晶 et al. "一种基于楔形刚毛束的变刚度末端执行器" : CN202110093097.5. | 2021-01-25 . |
| APA | 崔晶 , 李明昊 , 楚中毅 , 王佳奇 , 刘慧敏 . 一种基于楔形刚毛束的变刚度末端执行器 : CN202110093097.5. | 2021-01-25 . |
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