Deformation Control of a Deformable Object Based on Visual and Tactile Feedback

In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional constraints. But in fact, in many situations manipulation has to be performed under actively applied force constraints. This scenario is considered in this research. In the proposed scheme a tactile feedback is integrated to ensure a stable contact between the robot end-effector and the soft object to be manipulated. The controlled contact force is also utilized to regulate the deformation of the soft object with its shape measured by a vision sensor. The effectiveness of the proposed method is demonstrated by a book page turning and shaping experiment.

[1]  Jia Pan,et al.  Three-Dimensional Deformable Object Manipulation Using Fast Online Gaussian Process Regression , 2017, IEEE Robotics and Automation Letters.

[2]  J. Styf,et al.  The Effects of External Compression by Three Different Retractors on Pressure in the Erector Spine Muscles During and After Posterior Lumbar Spine Surgery in Humans , 1998, Spine.

[3]  Fernando Torres Medina,et al.  Tactile control based on Gaussian images and its application in bi-manual manipulation of deformable objects , 2017, Robotics Auton. Syst..

[4]  Dinesh Manocha,et al.  3-D Deformable Object Manipulation Using Deep Neural Networks , 2019, IEEE Robotics and Automation Letters.

[5]  Yun-Hui Liu,et al.  Dual-Arm Robotic Needle Insertion With Active Tissue Deformation for Autonomous Suturing , 2019, IEEE Robotics and Automation Letters.

[6]  Zerui Wang,et al.  Autonomous Data-Driven Manipulation of Unknown Anisotropic Deformable Tissues Using Unmodelled Continuum Manipulators , 2019, IEEE Robotics and Automation Letters.

[7]  Yew Cheong Hou,et al.  A review on modeling of flexible deformable object for dexterous robotic manipulation , 2019, International Journal of Advanced Robotic Systems.

[8]  Tsukasa Ogasawara,et al.  Pouring from Deformable Containers Using Dual-Arm Manipulation and Tactile Sensing , 2019, International Conference on Robotic Computing.

[9]  Hongliang Ren,et al.  Soft Tactile Sensors With Inkjet-Printing Conductivity and Hydrogel Biocompatibility for Retractors in Cadaveric Surgical Trials , 2018, IEEE Sensors Journal.

[10]  S. Hughes,et al.  The Impact of Self-Retaining Retractors on the Paraspinal Muscles During Posterior Spinal Surgery , 2002, Spine.

[11]  Nathan F. Lepora,et al.  A Sense of Touch for the Shadow Modular Grasper , 2019, IEEE Robotics and Automation Letters.

[12]  Ghasem Abbasnejad,et al.  Dynamic Flex-and-Flip Manipulation of Deformable Linear Objects , 2019, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[13]  Yunhui Liu,et al.  Automatic 3-D Manipulation of Soft Objects by Robotic Arms With an Adaptive Deformation Model , 2016, IEEE Transactions on Robotics.

[14]  G.S. Fischer,et al.  Ischemia and Force Sensing Surgical Instruments for Augmenting Available Surgeon Information , 2006, The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006..

[15]  Belhassen-Chedli Bouzgarrou,et al.  Interaction modeling in the grasping and manipulation of 3D deformable objects , 2015, 2015 International Conference on Advanced Robotics (ICAR).

[16]  C. Torras,et al.  Interaction identification through tactile sensing during cloth manipulation using a 3-axis touch sensor , 2020 .

[17]  Yi Sun,et al.  Design and fabrication of a pneumatic soft robotic gripper for delicate surgical manipulation , 2017, 2017 IEEE International Conference on Mechatronics and Automation (ICMA).

[18]  Masayoshi Tomizuka,et al.  Robust Deformation Model Approximation for Robotic Cable Manipulation , 2019, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).