{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/153681"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/153681","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Soft, Compliant Tactile Robotic Manipulators","abstract":"When we look to the future of soft robotics and manipulation, we begin to look towards sensory-rich and compliant grasping mechanisms. Not only do we want to capitalize on the significant advantages in safety and adaptability that soft robots have, we also want to incorporate high-resolution tactile sensors, which will allow soft robots to perform more tasks. One such system is the GelSight sensor, which is low-cost, effective, and high-resolution. However, the integration of these camera-based sensors into compliant manipulators is difficult due to the rigidity of the sensor backing. This thesis explores the design of multiple different compliant high-resolution tactile manipulators, along with some examples of their real-world uses. The first such design incorporates a simple camera-based tactile sensor into an exoskeleton-covered soft robot with vision-based proprioception. A later design integrates full camera-based tactile sensing capabilities into a flexible Fin Ray structure. Finally, the designs culminate in a novel soft-rigid human-inspired robotic hand with continuous tactile sensing which is capable of grasping heavier objects and safely interacting with humans. The incorporation of high-resolution tactile sensors into soft, compliant robots brings us closer to developing new manipulators that could someday match or exceed the capabilities of human hands.","abstract_html":"When we look to the future of soft robotics and manipulation, we begin to look towards sensory-rich and compliant grasping mechanisms. Not only do we want to capitalize on the significant advantages in safety and adaptability that soft robots have, we also want to incorporate high-resolution tactile sensors, which will allow soft robots to perform more tasks. One such system is the GelSight sensor, which is low-cost, effective, and high-resolution. However, the integration of these camera-based sensors into compliant manipulators is difficult due to the rigidity of the sensor backing. This thesis explores the design of multiple different compliant high-resolution tactile manipulators, along with some examples of their real-world uses. The first such design incorporates a simple camera-based tactile sensor into an exoskeleton-covered soft robot with vision-based proprioception. A later design integrates full camera-based tactile sensing capabilities into a flexible Fin Ray structure. Finally, the designs culminate in a novel soft-rigid human-inspired robotic hand with continuous tactile sensing which is capable of grasping heavier objects and safely interacting with humans. The incorporation of high-resolution tactile sensors into soft, compliant robots brings us closer to developing new manipulators that could someday match or exceed the capabilities of human hands.","abstract_has_math":false,"creators":["Liu, Sandra Q."],"institution":"Massachusetts Institute of Technology","degree_name":"Doctoral","degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. 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Finally, the designs culminate in a novel soft-rigid human-inspired robotic hand with continuous tactile sensing which is capable of grasping heavier objects and safely interacting with humans. The incorporation of high-resolution tactile sensors into soft, compliant robots brings us closer to developing new manipulators that could someday match or exceed the capabilities of human hands."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["Ph.D."]},{"key":"dc:title","label":"Title","values":["Soft, Compliant Tactile Robotic Manipulators"]}]}],"canonical_facts":{"dc:contributor.advisor":["Adelson, Edward H."],"dc:contributor.department":["Massachusetts Institute of Technology. Department of Mechanical Engineering"],"dc:creator":["Liu, Sandra Q."],"dc:date.accessioned":["2024-03-13T13:26:10Z"],"dc:date.available":["2024-03-13T13:26:10Z"],"dc:date.issued":["2024-02"],"dc:description.abstract":["When we look to the future of soft robotics and manipulation, we begin to look towards sensory-rich and compliant grasping mechanisms. Not only do we want to capitalize on the significant advantages in safety and adaptability that soft robots have, we also want to incorporate high-resolution tactile sensors, which will allow soft robots to perform more tasks. One such system is the GelSight sensor, which is low-cost, effective, and high-resolution. However, the integration of these camera-based sensors into compliant manipulators is difficult due to the rigidity of the sensor backing. This thesis explores the design of multiple different compliant high-resolution tactile manipulators, along with some examples of their real-world uses. The first such design incorporates a simple camera-based tactile sensor into an exoskeleton-covered soft robot with vision-based proprioception. A later design integrates full camera-based tactile sensing capabilities into a flexible Fin Ray structure. Finally, the designs culminate in a novel soft-rigid human-inspired robotic hand with continuous tactile sensing which is capable of grasping heavier objects and safely interacting with humans. 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