Design of multisensory gripper for internet-based teleoperation

A layered multisensory integration gripper is designed for internet-based teleoperation. During the process of design, the gripper architecture is developed, which includes data acquisition layer, data process layer and network interface layer. A support-vector-machine-based data fusion algorithm is proposed. Combined with other technologies such as CAN bus, all layers of gripper system are finished, endowing the gripper with characteristics including modularization and high intelligence. A gripper test bed is also built on which the internet-based teleoperation jobs is based are achieved. The experimental results show that the gripper system has a good ability of local-autonomy and can improve the operation capability of internet-based teleoperation system effectively.