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- 01JKD4N99V1DBQVB4935PMZ3MF classification A1.
- 01JKD4N99V1DBQVB4935PMZ3MF date "2025".
- 01JKD4N99V1DBQVB4935PMZ3MF language "eng".
- 01JKD4N99V1DBQVB4935PMZ3MF type journalArticle.
- 01JKD4N99V1DBQVB4935PMZ3MF hasPart 01JKD4R6T1J827WTJ0K6MSMS4N.pdf.
- 01JKD4N99V1DBQVB4935PMZ3MF subject "Technology and Engineering".
- 01JKD4N99V1DBQVB4935PMZ3MF doi "10.1109/jsen.2024.3504717".
- 01JKD4N99V1DBQVB4935PMZ3MF issn "1530-437X".
- 01JKD4N99V1DBQVB4935PMZ3MF issn "1558-1748".
- 01JKD4N99V1DBQVB4935PMZ3MF issue "3".
- 01JKD4N99V1DBQVB4935PMZ3MF volume "25".
- 01JKD4N99V1DBQVB4935PMZ3MF abstract "Robotic manipulation relies on accurate force sensing and control mechanisms to ensure efficient and safe operation. This article presents a novel approach to enhance robotic manipulation capabilities by integrating a barometric tactile sensor with a quasi-direct drive gripper (QDDG). The synergy between these technologies addresses inherent limitations: QDDGs struggle with high current requirements and potential overheating, while tactile sensors often have restricted force ranges and sampling rates. By fusing data from these systems using an adaptive sensor fusion model, this study improves force estimation accuracy, extends force range capability, and boosts sampling rates up to 100 Hz. The integrated approach not only enhances grasping efficiency but also enables autonomous adjustment of grip force levels to prevent slippage. Experimental results demonstrate significant improvements in force estimation accuracy over individual sensor outputs, validating the effectiveness of the proposed integration for advanced robotic manipulation tasks. Furthermore, based on this sensor fusion framework, a slip detection and control mechanism was developed capable of grasping and lifting a diverse array of objects with high success-rates (>90%).".
- 01JKD4N99V1DBQVB4935PMZ3MF author 1CF7E656-F0EE-11E1-A9DE-61C894A0A6B4.
- 01JKD4N99V1DBQVB4935PMZ3MF author E875A7D4-087D-11E4-827A-32ED4B2F559A.
- 01JKD4N99V1DBQVB4935PMZ3MF author F7378570-F0ED-11E1-A9DE-61C894A0A6B4.
- 01JKD4N99V1DBQVB4935PMZ3MF dateCreated "2025-02-06T08:05:12Z".
- 01JKD4N99V1DBQVB4935PMZ3MF dateModified "2025-02-10T09:40:50Z".
- 01JKD4N99V1DBQVB4935PMZ3MF name "Enhanced force estimation and autonomous force tuning through fusion of tactile sensor and quasi-direct drive gripper".
- 01JKD4N99V1DBQVB4935PMZ3MF pagination urn:uuid:71deb784-61c4-4269-9838-2abc320a9df7.
- 01JKD4N99V1DBQVB4935PMZ3MF sameAs LU-01JKD4N99V1DBQVB4935PMZ3MF.
- 01JKD4N99V1DBQVB4935PMZ3MF sourceOrganization urn:uuid:904009ef-9d15-4b78-bd23-4d971abe9cef.
- 01JKD4N99V1DBQVB4935PMZ3MF type A1.