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This paper presents an adaptive force-controlled robotic system for selective membrane puncturing in multilayer structures. Using a Franka Emika Panda robot with impedance-based control and real-time force feedback, the system dynamically adjusts applied force to penetrate only the upper membrane while preserving underlying layers. Experiments with PVC, LDPE, and cellulose acetate films demonstrate reliable puncture detection through characteristic force profiles and consistent depth control. Results highlight the importance of compliant interaction in variable-stiffness environments and suggest potential applications in non-medical domains like material testing, packaging, and agriculture. This approach enables safe, precise membrane interaction beyond traditional position-based methods.

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Precision Force-Controlled Puncturing of Multilayer Stretchable Membranes Using a Robotic Manipulator

  • 会议论文

  • 发表日期：

    2025年

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  • Soibkhon Khajikhanov,
  • Jabrail Chumakov,
  • Amir Yelenov,
  • Ilyas Umurbekov,
  • Temirlan Kaiyrbay,
  • Zaki Al-Farabi,
  • Assylkhan Seitzhanov,
  • Zhanat Kappassov

摘要

This paper presents an adaptive force-controlled robotic system for selective membrane puncturing in multilayer structures. Using a Franka Emika Panda robot with impedance-based control and real-time force feedback, the system dynamically adjusts applied force to penetrate only the upper membrane while preserving underlying layers. Experiments with PVC, LDPE, and cellulose acetate films demonstrate reliable puncture detection through characteristic force profiles and consistent depth control. Results highlight the importance of compliant interaction in variable-stiffness environments and suggest potential applications in non-medical domains like material testing, packaging, and agriculture. This approach enables safe, precise membrane interaction beyond traditional position-based methods.