自动化学院“六朝松∙智控论坛”—名家讲坛系列报告

发布者：赵剑锋发布时间：2024-10-17浏览次数：10

报告时间：2024年10月18日周五下午 15：30

报告地点：东南大学四牌楼校区中心楼二楼教育部重点实验室会议室

组织单位：东南大学自动化学院

邀请人：李世华教授，东南大学自动化学院

报告主题：

Anthropomorphic Robotic Hand Integrated Tactile Sensor for Dexterous Object Grasping

报告人简介：

喻豪勇副教授，Dr. Yu Haoyong is an Associate Professor in the Department of Biomedical Engineering at the National University of Singapore. He received his Bachelor’s and Master’s degrees from Shanghai Jiao Tong University and his PhD from the Massachusetts Institute of Technology (MIT). His current research interests include biomedical robotics and devices, rehabilitation engineering and assistive technology, service robots, human-robot interaction, intelligent control, and machine learning.

报告摘要：Tactile sensing is essential for humans when grasping and manipulating objects in daily life. Similarly, service robots rely on tactile sensors to estimate grasping force magnitude, contact location, and force direction when handling objects, in order to improve manipulation safety. However, current robotic tactile sensing solutions have serious limitations. The integration of tactile sensors and robotic hands is still not common in current service robots. To address this, we have developed a biomimetic tactile sensing hardware called GTac, which can estimate task-essential contact information and is easily integrated into robotic hands. GTac adopts a multilayer structure consisting of separate layers for intrinsic tri-axis force sensing and dense extrinsic normal force sensing, mimicking the functions of SA-II and FA-I tactile afferents in human skin. Based on this novel tactile sensor, we have developed an anthropomorphic robotic hand that equips GTac at its fingertips and palm. In this talk, we will introduce the design and fabrication of the sensor, demonstrate the sensing and grasping capabilities of the robotic hand and gripper, and discuss its future applications.