Processed measurement data of the experimental study of the cushion stiffness - a component of a hybrid soft-rigid gripper jaw

DESCRIPTION:The dataset consists of measurements of experimental studies of stiffness during plunging the pin into the cushions (soft-rigid robotic jaw fignertip) and soft-rigid robotic jaw (Fig. 1).The measurement system consists of a Panasonic HG-C1100/HL-G112 laser distance sensor and a HBM U9C force sensor mounted on a linear actuator with a stepper motor (Fig. 2).Studies were conducted for different fillings and cushion geometries (Fig. 3, "dataset_1.csv"), as well as for two different springs in the jaw mechanism (Fig. 4,"dataset_2.csv").LICENSE:The data are under Creative Commons License CC BY. It is though recommended to manipulate along with the author to fully understand the outcomes. If you have any questions do not hesitate to contact: [e-mail] research was funded by the National Science Centre, Poland grant number: 2021/41/N/ST8/02619. https://ror.org/03ha2q922FILES:"dataset_1.csv" - processed measurement data obtained during the experiment - cushion stiffness measurement"dataset_2.csv" - processed measurement data obtained during the experiment - measuring the reaction of the jaw with an MR fluid filled cushion and a spring-permanent magnet mechanism.For proper interpretation, please refer to the images provided below.COLUMNS in "dataset_1.csv":             - Fingertip[-] - type of the cushion determined by its filling, which was placed on the fingertip (please check the table below for more details);       - Sample[-] - sample number for each object configuration;       - Time[s] - the measurement time at which the force was recorded;       - PosSM[] - the set position of the linear drive moving the force sensor;       - Distance[mm] - the value of the displacement of the plunger (force sensor), measured with a Panasonic sensor HG-C1100/HL-G112;       - Force[N] - the value of the force exerted by the plunger (force sensor) into the cushion, measured with HBM U9C.COLUMNS in "dataset_2.csv":       - Spring[-] - type of the spring determined by its parameters (please check the table below for more details);       - Sample[-] - sample number for each object configuration;       - Time[s] - the measurement time at which the force was recorded;       - PosSM[] - the set position of the linear drive moving the force sensor;       - Distance[mm] - the value of the displacement of the plunger (force sensor), measured with a Panasonic sensor HG-C1100/HL-G112;       - Force[N] - the value of the force exerted by the plunger (force sensor) into the cushion, measured with HBM U9C.

本数据集包含将探针压入缓冲垫（软刚性机器人夹持器指尖，soft-rigid robotic jaw fingertip）以及软刚性机器人夹持器（图1）过程中的刚度实验测量数据。测量系统搭载松下（Panasonic）HG-C1100/HL-G112激光位移传感器（laser distance sensor）与HBM U9C力传感器（force sensor），安装于配备步进电机（stepper motor）的线性执行器（linear actuator）上（图2）。实验针对不同填充材质与缓冲垫几何构型开展（图3，对应"dataset_1.csv"），同时也针对夹持器机构中的两种不同弹簧开展实验（图4，对应"dataset_2.csv"）。

本数据集采用知识共享署名许可协议（Creative Commons License CC BY）发布。建议您与原作者协作以充分理解实验结果。如有任何疑问，请随时联系：[e-mail]。本研究由波兰国家科学中心资助，项目编号：2021/41/N/ST8/02619。https://ror.org/03ha2q922

文件说明：
"dataset_1.csv"——实验过程中获取的经处理的测量数据，对应缓冲垫刚度测量实验。
"dataset_2.csv"——实验过程中获取的经处理的测量数据，对应搭载磁流变流体（MR fluid）填充缓冲垫与弹簧-永磁机构的夹持器的反力测量实验。
如需正确解读数据，请参考下文提供的配套图像。

"dataset_1.csv"字段说明：
- 指尖[-]——安装于夹持器指尖的缓冲垫的填充类型（详细信息请查阅下表）；
- 样本编号[-]——每一种构型对应的样本序号；
- 时间[s]——记录力数据的测量时刻；
- 驱动位置设定值[]——带动力传感器运动的线性驱动器的预设位置；
- 位移[mm]——探针（力传感器）的位移量，由松下HG-C1100/HL-G112激光位移传感器测得；
- 力[N]——探针（力传感器）施加于缓冲垫的力值，由HBM U9C力传感器测得。

"dataset_2.csv"字段说明：
- 弹簧[-]——根据参数确定的弹簧类型（详细信息请查阅下表）；
- 样本编号[-]——每一种构型对应的样本序号；
- 时间[s]——记录力数据的测量时刻；
- 驱动位置设定值[]——带动力传感器运动的线性驱动器的预设位置；
- 位移[mm]——探针（力传感器）的位移量，由松下HG-C1100/HL-G112激光位移传感器测得；
- 力[N]——探针（力传感器）施加于缓冲垫的力值，由HBM U9C力传感器测得。