Monitoring the state of contact is essential for robotic devices, especially grippers that implement gecko-inspired adhesives where intimate contact is crucial for a firm attachment. However, due to the lack of deformable sensors, few have demonstrated tactile sensing for gecko grippers. We present Viko, an adaptive gecko gripper that utilizes vision-based tactile sensors to monitor contact state. The sensor provides high-resolution real-time measurements of contact area and shear force. Moreover, the sensor is adaptive, low-cost, and compact. We integrated gecko-inspired adhesives into the sensor surface without impeding its adaptiveness and performance. Using a robotic arm, we evaluate the performance of the gripper by a series of grasping test. The gripper has a maximum payload of 8N even at a low fingertip pitch angle of 30 degrees. We also showcase the gripper's ability to adjust fingertip pose for better contact using sensor feedback. Further, everyday object picking is presented as a demonstration of the gripper's adaptiveness.

中文翻译：

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Viko：具有基于视觉的触觉传感器的自适应壁虎式夹爪

监视接触状态对于机器人设备至关重要，尤其是在接触紧密接触对于牢固连接至关重要的情况下，采用壁虎启发粘合剂的抓具。但是，由于缺少可变形的传感器，因此很少有人展示出用于壁虎抓手的触觉传感。我们展示了Viko，这是一种自适应壁虎抓手，它利用基于视觉的触觉传感器来监控接触状态。该传感器提供接触面积和剪切力的高分辨率实时测量。而且，该传感器是自适应的，低成本的并且紧凑的。我们将壁虎风格的粘合剂集成到传感器表面，而不会影响其适应性和性能。我们使用机械臂通过一系列抓地力测试来评估抓爪的性能。即使在30度的低指尖倾斜角度下，抓取器的最大有效载荷也为8N。我们还展示了抓爪能够通过传感器反馈来调整指尖姿势以实现更好的接触的能力。此外，还提供了日常捡拾物体的方法，以说明抓爪的适应性。