End-to-End Deep Learning by MCU Implementation: An Intelligent Gripper for Shape Identification

This paper introduces a real-time processing and classification of raw sensor data using a convolutional neural network (CNN). The established system is a microcontroller-unit (MCU) implementation of an intelligent gripper for shape identification of grasped objects. The pneumatic gripper has two embedded accelerometers to sense acceleration (in the form of vibration signals) on the jaws for identification. The raw data is firstly transferred into images by short-time Fourier transform (STFT), and then the CNN algorithm is adopted to extract features for classifying objects. In addition, the hyperparameters of the CNN are optimized to ensure hardware implementation. Finally, the proposed artificial intelligent model is implemented on a MCU (Renesas RX65N) from raw data to classification. Experimental results and discussions are introduced to show the performance and effectiveness of our proposed approach.