Wearable Roller Rings for Dexterous In-Hand Manipulation with Active Surfaces

Kernekoncepter

Development of Roller Rings (RR) for in-hand manipulation using active surfaces enables dexterous object manipulation without lifting a finger.

Resumé

The content discusses the development of Roller Rings (RR) as a wearable device to enhance in-hand manipulation capabilities. It introduces the concept of active surfaces and differential motion models for object manipulation. The experiments conducted on both robot and human hands validate the RR's ability to provide complete manipulation solutions through rotations and translations. Limitations such as geometric constraints, friction issues, and non-compliance are also highlighted.

I. Introduction

• Importance of in-hand manipulation skills.
• Challenges faced by traditional manipulation paradigms.

II. Related Work

• Overview of past research on robot hands and in-hand manipulation techniques.

III. Design Principles for Roller Rings

• Components and design specifications of the Roller Rings.

IV. Motion Model

• Derivation of a general motion model for active surface-based in-hand manipulation.

V. Experiments

• Evaluation of RR's rotational and translational manipulation capabilities.
• Impact of object variance on RR's performance.

VI. Conclusion and Future Work

• Summary of findings from experiments.
• Proposed improvements for future work.

Statistik

"Our motion model shows that complete in-hand manipulation skill sets can be provided by as few as only 2 RRs through non-holonomic object motions."
"The top and bottom plates of the RR were 3D-printed using Polylactic Acid at 30% infill on a Bambulab X1-Carbon 3D Printer."
"Each RR variant has one actuated DoF from the Micro DC Motor that was controlled using velocity control."

Citater

"The RRs can be employed to manipulate arbitrary object shapes to provide dexterous in-hand manipulation."
"Active surface-based motion models were derived to show that active surface-based manipulation provides a differential and non-holonomic manipulation model."

Vigtigste indsigter udtrukket fra

Wearable Roller Rings to Enable Robot Dexterous In-Hand Manipulation through Active Surfaces

by Hayden Webb,... kl. arxiv.org 03-21-2024

https://arxiv.org/pdf/2403.13132.pdf

Dybere Forespørgsler

How can the Roller Rings address the limitations related to geometric constraints?

The Roller Rings can address limitations related to geometric constraints by incorporating adaptable features into their design. One approach could involve implementing a modular system that allows for adjustments based on the size and shape of the object being manipulated. By enabling customization, the Roller Rings can accommodate a wider range of object geometries, reducing restrictions imposed by fixed designs. Additionally, integrating compliant mechanisms into the Roller Rings can help them conform to various object shapes, enhancing their adaptability during manipulations.

What are potential solutions to reduce friction issues encountered during differential motions?

To reduce friction issues encountered during differential motions with Roller Rings, several strategies can be implemented. One solution is to utilize materials with low friction coefficients in critical contact points within the mechanism. This choice of materials will minimize resistance and improve smooth motion transitions between active surfaces and objects being manipulated. Another approach involves optimizing lubrication systems within the Roller Rings to ensure minimal friction during operation. Proper maintenance and periodic checks on these lubrication systems can help maintain optimal performance levels over time.

How might compliance be integrated into the design of Roller Rings to improve stability during manipulations?

Integrating compliance into the design of Roller Rings can significantly enhance stability during manipulations by allowing for more adaptive interactions with objects. Compliance mechanisms such as soft actuators or flexible components can absorb shocks and variations in contact forces, improving grip consistency and reducing slippage risks. By incorporating compliant elements at key points where contacts are made with objects, Roller Rings can better adjust to irregularities in surfaces or unexpected external forces, leading to more secure grasps and smoother manipulation actions overall.