一种集成柔性视触觉的自适应操作夹持器
By integrating a curved surface reflector and camera onto the gripper, combined with a ring light source and a diffusion film, the problems of uneven lighting and blind spots on the ring gripper are solved, achieving full-circumference uniform lighting and full-coverage tactile perception, making it suitable for high-precision grasping and recognition in various scenarios.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SUN YAT SEN UNIV
- Filing Date
- 2026-01-28
- Publication Date
- 2026-07-17
AI Technical Summary
Existing visual-tactile technologies have poor adaptability and perception uniformity on circular grippers, making it difficult to achieve uniform illumination and full-coverage tactile perception. In particular, on ring structures, there are local over-brightness, dark bands, or shadows, resulting in obvious blind spots.
An adaptive manipulator integrating flexible visual-tactile sensing was designed. It adopts a combination of curved surface reflector and camera, combined with ring array light source and diffusion film to achieve uniform illumination around the whole circle and full coverage tactile perception. Through the specific arrangement of curved surface reflector and camera and diffusion design of light source, the uniformity of illumination and perception accuracy are ensured.
It achieves full-circumference uniform illumination and full-coverage tactile perception of the ring gripper, improves the quality of tactile images and the accuracy of perception reconstruction, adapts to circular targets of various diameters, and broadens the application scope to tasks such as food sorting, agricultural harvesting and daily necessities packaging.
Smart Images
Figure CN121608182B_ABST