Experimental Investigation of a Biologically Inspired Gripper with Active Haptic Control for Geometric Compliancy

Abstract

Human-machine interaction for object manipulation in assembly environments is enhanced through the haptic feedback. The sensitivity of grasping fragile components is achieved through force feedback control for an active haptic sensory system for grippers. Intelligent gripping systems employing haptic control has the potential to be implemented in Reconfigurable Assembly Systems and on-demand production lines. Successful object handling and object control of a biologically inspired gripping system incorporating active haptic control were investigated. The proposed system was designed to evaluate adaptability and object conformity of the gripper grasping force through a dynamic pick-and-place procedure. The grasping procedure employed a haptic feedback control sensory system to monitor the force output of the grasping procedure and manipulate grip hold intensity. The force output data was empirically gathered and formulated to be expressed on a signal versus time graph to illustrate self-conformity and grasping stabilization of the gripper system. Recommendations and conclusions were expressed in relation to effective grip force control.