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U-TAG: Electromagnetic Wireless Sensing System for Robotic Hand Pre-Grasping.

Armin Gharibi¹, Filippo Costa¹, Simone Genovesi¹

¹Department of Information Engineering, University of Pisa, 56123 Pisa, Italy.

Sensors (Basel, Switzerland)

|August 29, 2024

Summary

This summary is machine-generated.

This study introduces a radiofrequency sensor for robotic hands, enabling precise object grasping through wireless probe-tag communication. The sensor analyzes impedance to determine optimal hand orientation and positioning for complex manipulation tasks.

Keywords:

RF sensors passive tags pre-touch sensing printed tags robot grasping

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Area of Science:

Robotics
Sensor Technology
Electromagnetics

Background:

Robotic hands need advanced sensors for complex manipulation and grasping.
Existing sensors face limitations in functionality and degrees of freedom.

Purpose of the Study:

To propose a novel radiofrequency (RF) sensor system for robotic hands.
To enable precise pre-touch sensing and object manipulation through wireless communication.

Main Methods:

A compact antenna on the robotic hand acts as a probe to read a passive resonator on the target object.
The system utilizes a four-stage grasping strategy: planar, distance, and rotational alignment.
Analysis of probe-input impedance components (real and imaginary) for orientation and positioning deduction.

Main Results:

The RF sensor successfully deduces hand orientation relative to the target object.
Optimal grasping positions are determined by analyzing impedance data.
The system operates effectively within a pre-touch sensing range.

Conclusions:

The proposed RF sensor system enhances robotic hand capabilities for complex manipulation.
Wireless probe-tag impedance analysis provides a robust method for grasp planning.
This technology advances robotic dexterity and task performance.