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The Ada hand can fail to grip objects or grip objects too hard or too softly to pick them up properly.
To find a way to make the Ada hand more adaptable to gripping objects with varying force.
1. The solution must enable the Ada hand to grasp objects with an appropriate strength
- See problem
- Hardware can be used in combination with firmware but a hardware only solution is already being explored here
- Since the original Ada hand is released under the this license, any derivatives must be distributed under the same license.
Develop a force sensing algorithm for the hand which detects how much force is being applied to the fingers and reacts accordingly. When being used for robotics applications this functionality could enable robots to grip objects with a pre-determined force, and increase their grip automatically if they detect an object is slipping. The PQ12 linear actuators have built in positional feedback, which when measured over time and integrated, can give an estimation of the speed at which the fingers are closing. This can then be compared to the speed expected if no object is in the way of the fingers, so if they're moving slower than usual then there is an object obstructing them. The slower the fingers are moving in relation to their programmed speed, the harder the grip. Since the PQ12s have a bit of backlash in the servo horn it is possible to detect small movements of the fingers even when the actuators aren't moving. An alternative option might be to use force sensitive resistors in the fingertips to sense pressure applied by each finger.
1. Build the solution into fingerlib.h so it's easier to track the changes.