The GAL2 2-Finger Angular Lead-Screw Gripper is an electric 2-finger linear gripper with PapillArray Tactile Sensor Array integrated into each of the two gripper fingertips. The PapillArray Tactile Sensor Arrays measure tactile data that is used for real-time closed-loop feedback control of the grip force applied by the gripper. The gripper autonomously and dynamically applies the optimal grip force, calculated in real-time, to prevent translational slip of the grasped object, based on the measured coefficient of static friction between the sensors and the grasped object and the measured shear force acting on the sensors.
The GAL2 2-Finger Angular Lead-Screw Gripper can be operated in 3 gripping modes:
▪️ Position control - The gripper finger target position is specified by the operator. The gripper fingers will move to the commanded target position.
▪️ Fixed force-controlled grip - The target grip force at the fingertips (i.e., the grip force to be exerted on the PapillArray Tactile Sensors) is specified by the operator.
▪️ Dynamic force-controlled grip - The target grip force at the fingertips is determined in real-time autonomously by the PapillArray Tactile Sensors – calculated from the measured shear forces and frictions.
The Gripper communications interface allows the user to send commands to the gripper to bias the PapillArray Tactile Sensor arrays, to retrieve gripper-specific data, and the set parameters for gripping, and of course initiating movements and gripping in various grip modes.