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学者姓名：崔晶
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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 ：
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 , 38 (23) : 4258-4274 . |
| MLA | Liu, Huimin et al. "Design of a soft gripper with negative-pressure actuated synthetic annulus microwedge adhesive" . | JOURNAL OF ADHESION SCIENCE AND TECHNOLOGY 38 . 23 (2024) : 4258-4274 . |
| 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 , 38 (23) , 4258-4274 . |
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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 ：
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 ：
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 ：
本发明公开了一种基于正压驱动的仿生变刚度拾取器及驱动方法，涉及仿生干黏附机器人末端执行器技术领域，气动连接件与弹性膜囊连通，弹性膜囊内设置有若干固体颗粒，气动连接件用于连接气源装置，环状楔形刚毛束单元设置在弹性膜囊的底面。使用时，先向弹性膜囊内部通入正压使其膨胀，移动拾取器使底面环状楔形刚毛束单元与目标物体充分接触，然后撤去正压，环状楔形刚毛束单元在弹性恢复力作用下被拉弯实现加载，最后弹性膜囊内部抽至负压，由于固体颗粒阻塞弹性膜囊呈现高刚度，实现环状楔形刚毛束单元的稳定黏附。本发明能够提高机器人末端执行器对翘曲表面的适应性。
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| GB/T 7714 | 崔晶 , 张博伦 , 楚中毅 et al. 一种基于正压驱动的仿生变刚度拾取器及驱动方法 : CN202310220856.9[P]. | 2023-03-09 . |
| MLA | 崔晶 et al. "一种基于正压驱动的仿生变刚度拾取器及驱动方法" : CN202310220856.9. | 2023-03-09 . |
| APA | 崔晶 , 张博伦 , 楚中毅 , 刘慧敏 . 一种基于正压驱动的仿生变刚度拾取器及驱动方法 : CN202310220856.9. | 2023-03-09 . |
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Abstract ：
本发明公开一种六自由度触觉传感器，涉及传感器技术领域。本发明基于电容式传感器原理，包括由上至下依次设置的上层电路板、切向介质层、中间层电路板、法向介质层和下层电路板，通过将多维力检测设置在不同的检测层，降低了多维力间的解耦难度；本发明以多对交叉指状的电极结构为基础，通过对极板形状和分布进行新型设计，能够将实现多维力/力矩的高灵敏测量和维间高效解耦；基于这一结构设置，本发明能够实现传感器对六轴力高灵敏测量的同时，具有感应面积大、解耦效果好的特点。
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| GB/T 7714 | 崔晶 , 于辉 , 王易捷 et al. 一种六自由度触觉传感器 : CN202310641128.5[P]. | 2023-06-01 . |
| MLA | 崔晶 et al. "一种六自由度触觉传感器" : CN202310641128.5. | 2023-06-01 . |
| APA | 崔晶 , 于辉 , 王易捷 , 楚中毅 , 崔荣朋 . 一种六自由度触觉传感器 : CN202310641128.5. | 2023-06-01 . |
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Abstract ：
本发明公开一种仿壁虎微结构刚毛微观黏附状态检测装置及方法，涉及微结构接触状态检测技术领域，包括外部支撑单元，外部支撑单元上设有XY移动载物台，XY移动载物台上安装有加载单元，XY移动载物台能够带动加载单元沿X方向和Y方向水平移动，加载单元用于对仿壁虎微结构刚毛实施法向加载/卸载，加载单元下方设有倒置金相显微镜，倒置金相显微镜连接有上位机检测与控制端；倒置金相显微镜用于观测仿壁虎微结构刚毛与目标物的微观接触面积图像。基于本发明上述装置的检测方法，将仿壁虎微结构刚毛接触状态传统的宏观检测方式转换成微观检测方式，以金相显微镜为主体实现仿壁虎微结构刚毛接触状态全貌图像的观测与分析。
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| GB/T 7714 | 崔晶 , 靳曦 , 楚中毅 et al. 一种仿壁虎微结构刚毛微观黏附状态检测装置及方法 : CN202310224272.9[P]. | 2023-03-09 . |
| MLA | 崔晶 et al. "一种仿壁虎微结构刚毛微观黏附状态检测装置及方法" : CN202310224272.9. | 2023-03-09 . |
| APA | 崔晶 , 靳曦 , 楚中毅 , 张博伦 , 苏节江 . 一种仿壁虎微结构刚毛微观黏附状态检测装置及方法 : CN202310224272.9. | 2023-03-09 . |
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Abstract ：
本发明公开一种搬运机械手，包括拾取组件和缓冲组件，拾取组件包括拾取头和拾取刚毛，缓冲组件包括缓冲支杆和缓冲套筒。工作时，对驱动腔体抽气，使驱动腔体内的压力小于大气压时，驱动腔体向内收缩，变形部变形对拾取部施加作用力，拾取部环绕变形部设置，拾取部向拾取刚毛传递切向力，将拾取刚毛拉弯，从而产生法向黏附力将物体黏附，拾取刚毛能够与待搬运物品充分接触，提高拾取安全系数；缓冲支杆与拾取头相连，缓冲套筒能够与外部设备相连，外部设备带动搬运机械手到达待搬运物品处，缓冲套筒与缓冲支杆相配合能够弥补驱动腔体收缩变形的位移量，保证拾取刚毛与待搬运物品接触。同时，本发明还提供一种搬运系统，包含上述的搬运机械手。
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| GB/T 7714 | 崔晶 , 苏节江 , 楚中毅 et al. 一种搬运机械手和搬运系统 : CN202310222095.0[P]. | 2023-03-09 . |
| MLA | 崔晶 et al. "一种搬运机械手和搬运系统" : CN202310222095.0. | 2023-03-09 . |
| APA | 崔晶 , 苏节江 , 楚中毅 , 刘慧敏 , 靳曦 . 一种搬运机械手和搬运系统 : CN202310222095.0. | 2023-03-09 . |
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Abstract ：
本发明公开了一种基于微位移加载形式的平面黏附机构，包括外框架、电磁铁、弹簧、导轨滑块以及粘结在滑块下方的楔形刚毛束，通过控制楔形刚毛切向微位移的距离对其进行加载。在电磁铁未通电时，铁板与电磁铁间存在微小间隙，此间隙视楔形刚毛横向具体尺寸可调，即为楔形刚毛束切向微位移距离。对电磁铁通电，铁板带动滑块向两侧移动，弹簧被拉伸同时螺钉离开限位块。楔形刚毛束与目标物接触后电磁铁断电，在复位弹簧的作用下使滑块向内运动直至螺钉碰到限位块，实现微位移高切向力加载，此时楔形刚毛束被充分拉弯，产生较大的法向黏附力从而实现对目标物的稳定黏附。采用微位移的加载方式使楔形刚毛束对不同平面都有适应性并且黏附稳定、成功率高。
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| GB/T 7714 | 崔晶 , 王佳奇 , 楚中毅 et al. 一种基于微位移加载楔形刚毛束的平面黏附机构 : CN202210123899.0[P]. | 2022-02-10 . |
| MLA | 崔晶 et al. "一种基于微位移加载楔形刚毛束的平面黏附机构" : CN202210123899.0. | 2022-02-10 . |
| APA | 崔晶 , 王佳奇 , 楚中毅 , 刘慧敏 . 一种基于微位移加载楔形刚毛束的平面黏附机构 : CN202210123899.0. | 2022-02-10 . |
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