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Conference Paper
인간 개입형 객체 특성 인식을 위한 형상 및 자세 적응형 손가락 그리퍼 설계
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- Issue Date
- 2026-02
- Citation
- 한국로봇학회 종합 학술 대회 2026, pp.1-3
- Publisher
- 한국로봇학회
- Language
- Korean
- Type
- Conference Paper
- Abstract
- This paper presents the design of a pose-adaptive gripper with shape- and orientation-conforming fingertips for human-in-the-loop object characterization. The proposed system enables high-fidelity tactile perception and intuitive control by allowing users to dynamically adjust the sensor’s contact pose through real-time modulation of joint angular displacement. Based on the Robotiq 2f-85 architecture, the gripper was customized via inverse kinematic simulations in Rhino3D Bongo to replicate natural finger motion. Each fingertip integrates a Meta Digit tactile sensor that captures contact imprint images encoding the object’s shape, texture, and stiffness. The adaptive fingertip mechanism conforms to both the local geometry and the contact orientation of the target object, enhancing sensing accuracy. Experimental results demonstrate that the proposed design significantly improves contact fidelity and object recognition performance, highlighting its potential for remote manipulation, teleoperation, and next-generation intelligent robotic systems.
- Keyword
- Pose-adaptive gripper, Human-in-the-Loop object characterization, Tactile sensing