tactile-control

Arduino based control system for soft robotic gripper using tactile sensors.

Developed for Master Thesis at Queen Mary University of London, August 2023

Setup for Arduino

Set up Arduino UNO, sensors, and ICs as shown in the circuit diagram below.

Open tactile_control.ino file within Arduino IDE.

This will also open all .h and .cpp files in the ./tactile_control directory.

Ensure the Arduino board is connected via USB and the proper port is selected in the IDE.

Run the code

(All output is given through the Arduino serial monitor)

NED Test cases

These test cases are desinged to be run using a Niryo NED robotic gripper. A description of each test is given below.

To run a test case simply uload the desired .xml to the NED and start it using the Niryo IDE.

Test Case 1

1. Arm at rest in gripping position
2. Gripper engages
3. Arm raises vertically
4. Arm remains elevated for 15 seconds
5. Arm lowers and gripper disengages

Test Case 2

1. Arm at rest in gripping position
2. Gripper engages
3. Arm raises vertically and rotates gripper to point parallel to ground plane
4. Gripper rotate from $-90^\circ$ through to $90^\circ$ around central gripper axis
5. Arm returns to start position and gripper disengages

Test Case 3

1. Arm at rest in gripping position
2. Gripper enages
3. Arm raises vertically as in Test Case 1
4. Arm remains elevated until test case is manually stopped

Test case 3 is intended to be used when applying an increasing load to the gripped object