Fig. 6: Potential applications in accurate dynamic control for manipulation tasks.
From: Contact-dominated localized electric-displacement-field-enhanced pressure sensing
a Photograph of the sensor-equipped robotic gripper grasping cotton, scale bar, 1.5 cm. b Dynamics of the pressure change when various objects are grasped. Inset: pictures of the objects, including cotton, rolled-up A4 paper, a ping pong ball and a scrub sponge. c Photograph of the sensor-equipped robotic gripper grasping a bottle containing water, scale bar, 3 cm. d Dynamics of the pressure change and controlled speed of the gripper during grasping and lifting of the bottle and when slipping occurs. e Measured pressure change induced by robot variations at a pressure of ~8.6 kPa detected by our sensor. f Photograph of the sensor-equipped robotic gripper grasping a measuring cylinder filled with water, scale bar, 3 cm. g Dynamics of the pressure change and controlled speed of the gripper when the measuring cylinder is grasped, 2 mL of water is added twice, and the cylinder is then put down. Source data are provided as a Source Data file.
