We present a novel robot end-effector for gripping and haptic exploration. Tactile sensing through suction flow monitoring is applied to a new suction cup design that contains multiple chambers for air flow. Each chamber connects with its own remote pressure transducer, which enables both absolute and differential pressure measures between chambers. By changing the overall vacuum applied to this smart suction cup, it can perform different functions such as gentle haptic exploration (low pressure) and monitoring breaks in the seal during strong astrictive gripping (high pressure). Haptic exploration of surfaces through sliding and palpation can guide the selection of suction grasp locations and help to identify the local surface geometry. During suction gripping, this design localizes breaks in the suction seal between four quadrants with up to 97% accuracy and detects breaks in the suction seal early enough to avoid total grasp failure.

中文翻译：

---

用于适应性抓握和触觉探索的多室智能吸盘

我们提出了一种新颖的机器人末端执行器，用于抓握和触觉探索。通过吸气流量监控实现的触觉感应被应用于一种新的吸盘设计，该吸盘设计包含多个用于气流的腔室。每个腔室都与自己的远程压力传感器相连，从而可以在腔室之间进行绝对压力和差压测量。通过改变施加到该智能吸盘的总真空度，它可以执行不同的功能，例如轻柔的触觉探查（低压）以及在严格的严格抓握（高压）期间监控密封件的破裂。通过滑动和触诊对表面进行触觉探索可以指导选择吸力抓取位置，并有助于识别局部表面几何形状。在吸力夹持过程中，