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Robots play a critical role as the physical agent of human operators in exploring the ocean. However, it remains challenging to grasp objects reliably while fully submerging under a highly pressurized aquatic environment with little visible light, mainly due to the fluidic interference on the tactile mechanics between the finger and object surfaces. This study investigates the transferability of grasping knowledge from on-land to underwater via a vision-based soft robotic finger that learns 6D forces and torques (FT) using a Supervised Variational Autoencoder (SVAE). A high-framerate camera captures the whole-body deformations while a soft robotic finger interacts with physical objects on-land and underwater. Results show that the trained SVAE model learned a series of latent representations of the soft mechanics transferrable from land to water, presenting a superior adaptation to the changing environments against commercial FT sensors. Soft, delicate, and reactive grasping enabled by tactile intelligence enhances the gripper's underwater interaction with improved reliability and robustness at a much-reduced cost, paving the path for learning-based intelligent grasping to support fundamental scientific discoveries in environmental and ocean research., Comment: 17 pages, 5 figures, 1 table, submitted to Advanced Intelligent Systems for review

Force-aware grasping is an essential capability for most robots in practical applications. Especially for compliant grippers, such as Fin-Ray grippers, it still remains challenging to build a bidirectional mathematical model that mutually maps the shape deformation and contact force. Part I of this article has constructed the force-displacement relationship for design optimization through the co-rotational theory. In Part II, we further devise a displacement-force mathematical model, enabling the compliant gripper to precisely estimate contact force from deformations sensor-free. The presented displacement-force model elaborately investigates contact forces and provides force feedback for a force control system of a gripper, where deformation appears as displacements in contact points. Afterward, simulation experiments are conducted to evaluate the performance of the proposed model through comparisons with the finite-element analysis (FEA) in Ansys. Simulation results reveal that the proposed model accurately estimates contact force, with an average error of around 3% and 4% for single or multiple node cases, respectively, regardless of various design parameters (Part I of this article is released in Arxiv1)

Compliant grippers, owing to adaptivity and safety, have attracted considerable attention for unstructured grasping in real applications, such as industrial or logistic scenarios. However, accurately modeling the bidirectional relationship between shape deformation and contact force for such grippers, the Fin-Ray grippers as an example, remains stagnant to date. To address this research gap, this article devises, presents, and experimentally validates a universal bidirectional force-displacement mathematical model for compliant grippers based on the co-rotational concept, which endows such grippers with an intrinsic force sensing capability and offers a better insight into the design optimization. In Part I of the article, we introduce the fundamental theory of the co-rotational approach, where arbitrary large deformation of beam elements can be modeled. Its intrinsic principle allows taking materials with varying stiffness, various connection types, and key design parameters into consideration with few assumptions. Further, the force-displacement relationship is numerically derived, providing accurate displacement estimations of the gripper under external forces with minor computational loads. The performance of the proposed method is experimentally verified through comparison with Finite Element Analysis (FEA) in simulation, obtaining a fair degree of accuracy (6%), and design optimization of Fin-Ray grippers is systematically investigated. Part II of this article demonstrating the force sensing capabilities and the effects of representative co-rotational modeling parameters on model accuracy is released in Arxiv.

Heavy-tailed random variables have been used in insurance research to model both loss frequencies and loss severities, with substantially more emphasis on the latter. In the present work, we take a step toward addressing this imbalance by exploring the class of heavy-tailed frequency models formed by continuous mixtures of Negative Binomial and Poisson random variables. We begin by defining the concept of a calibrative family of mixing distributions (each member of which is identifiable from its associated Negative Binomial mixture), and show how to construct such families from only a single member. We then introduce a new heavy-tailed frequency model -- the two-parameter ZY distribution -- as a generalization of both the one-parameter Zeta and Yule distributions, and construct calibrative families for both the new distribution and the heavy-tailed two-parameter Waring distribution. Finally, we pursue natural extensions of both the ZY and Waring families to a unifying, four-parameter heavy-tailed model, providing the foundation for a novel loss-frequency modeling approach to complement conventional GLM analyses. This approach is illustrated by application to a classic set of Swedish commercial motor-vehicle insurance loss data.

We offer two novel characterizations of the Zeta distribution: first, as tractable continuous mixtures of Negative Binomial distributions (with fixed shape parameter, r > 0), and second, as a tractable continuous mixture of Poisson distributions. In both the Negative Binomial case for r >= 1 and the Poisson case, the resulting Zeta distributions are identifiable because each mixture can be associated with a unique mixing distribution. In the Negative Binomial case for 0 < r < 1, the mixing distributions are quasi-distributions (for which the quasi-probability density function assumes some negative values).

Performing a grasp is a pivotal capability for a robotic gripper. We propose a new evaluation approach of grasping stability via constructing a model of grasping stiffness based on the theory of contact mechanics. First, the mathematical models are built to explore soft contact and the general grasp stiffness between a finger and an object. Next, the grasping stiffness matrix is constructed to reflect the normal, tangential and torsion stiffness coefficients. Finally, we design two grasping cases to verify the proposed measurement criterion of grasping stability by comparing different grasping configurations. Specifically, a standard grasping index is used and compared with the minimum eigenvalue index of the constructed grasping stiffness we built. The comparison result reveals a similar tendency between them for measuring the grasping stability and thus, validates the proposed approach., Comment: 12 pages, 14 figures