Fig. 3: Slip detection and mitigation with BTS-integrated robotic gripper system.
a Schematic of the algorithm used for the BTS system to detect and mitigate slip. b Schematic of the gripper’s operation without feedback, illustrating continuous object movement: (1) Object positioned between robotic fingers; (2) Fingers engage the object, applying a grasping force (Fgrip); (3) Mechanical tester pulls the object upwards with a force (Fpull) of 1.5 N; (4) Object continues to move as the maximum Fpull of 4.5 N is not reached; (5) Gripper fails to stop the object due to lack of feedback, resulting in a final displacement (D) of 30 mm. c Data plots for the gripper’s operation cycle stages, showing synchronized final displacement of the object (D), moving velocity of the object (v), BTS sensor feedback (Vout), change of grip force (ΔFgrip), and change of the pulling force (ΔFpull) exerted by the mechanical tester. d Photos of the gripper manipulating the object without feedback, showing continuous movement and final D of 30 mm. e Schematic of gripper operation with feedback activated, reducing displacement to D = 4.1 mm: (1) Object positioned between fingers; (2) Fingers engage the object; (3) Displacement occurs, but feedback is activated; (4) Gripper exerts higher force as feedback is initiated by the Vout, stopping object movement upon reaching maximum force; (5) Final displacement of 4.1 mm. f Data plots for the 4.1 mm displacement cycle, showing force, displacement, and system response. g Photos of the gripper demonstrating 4.1 mm displacement. h Schematic of the gripper’s initial position and response to added weights without feedback for rotational control: (1) Initial position; (2) Grasping; (3) Weights added, initiating object rotation; (4) Rotation without feedback. i Data plots showing system response without feedback. j Photo of the gripper rotating the object without feedback, resulting in a larger angle (θ = 70°). k Schematic of initial position and response with feedback for rotational control: (1) Initial position; (2) Grasping; (3) Weights added to initiate rotation; (4) Rotation with feedback. l Data plots with feedback activated, demonstrating precise control. (m) Photos showing gripper rotation with feedback, achieving a smaller angle (θ = 7°).
