... mechanism, is presented to accomplish the above goals. A feedforward grasping force control method, based on the learned kinematics of the underactuated finger mechanism, is proposed to achieve sensor-less grasping force control. To enhance the grasping force control accuracy, a state-based actuating force...

... that the method can be implemented online for the control of the mechanism. Also, since the platform is reconfigurable, the introduced mechanisms can be used for grasping irregular objects. The motion of the mechanism is simulated for singularity avoidance and grasping. 1 Corresponding author. Email...

.... The LSEA-RG has the ability to adaptively grasp objects with different shapes and sizes by grasping force control. First, the mechanical design, including the transmission scheme, the finger mechanism, and the actuating mechanism is presented. Subsequently, the kinematic analysis is performed to explore...

...Zhongmou Li; Vincent Bégoc; Abdelhamid Chriette; Isabelle Fantoni This paper presents the wrench capability analysis, the controller design, and experimental results of an aerial robot flying gripper. This robot uses four quadrotors to actuate four fingers such as to grasp and manipulate large size...

... , A. M. , 2016 , “ Spherical Hands: Toward Underactuated, In-hand Manipulation Invariant to Object Size and Grasp Location ,” ASME J. Mech. Rob. , 8 ( 6 ), p. 061021 . 10.1115/1.4034787 [12] Ma , R. R. , and Dollar , A. M. , 2014 , “ Linkage-based Analysis and Optimization...

.... Apart from deployability, a self-forcing mechanism, i.e., the holding force increases with load/object weight, facilitates the braided tube as a robotic gripper to grasp objects with different shapes, weights, and rigidities. First, taking a cylindrical object as an example, the self-forcing mechanism...

...Chih-Hsing Liu; Chen-Hua Chiu; Ta-Lun Chen; Tzu-Yang Pai; Mao-Cheng Hsu; Yang Chen This study presents a topology optimization method to synthesize an innovative compliant finger for grasping objects with size and shape variations. The design domain of the compliant finger is a trapezoidal area...

...Wissem Haouas; Redwan Dahmouche; Nadine Le Fort-Piat; Guillaume J. Laurent This paper presents a new parallel robot with an integrated gripper. The grasping capability of the robot is obtained by a foldable platform that can be fully controlled by actuators located on the base of the seven degrees...

...Guangbo Hao; Haiyang Li; Abhilash Nayak; Stephane Caro This paper presents the design of a multimode compliant gripper, using the singularities of the four-bar mechanism with equilateral links. The mobility of the compliant gripper can be reconfigurable to grasp a variety of shapes or adapt...

...Spencer B. Backus; Aaron M. Dollar Here, we present the design, fabrication, and evaluation of a prismatic-revolute-revolute joint hand called the model B that we developed for grasping from ungrounded vehicles. This hand relies on a prismatic proximal joint followed by revolute distal joints...

...Aimee Cloutier; James Yang An appropriate choice of contact forces for anthropomorphic robotic grasping devices is important for achieving a balanced grasp. Too little applied force may cause an object to slip or be dropped, and too much applied force may cause damage to delicate objects. Prior...

... link mechanism called a “microgripper.” The fingertip thus is a rigid/fluid hybrid system. The fluid fingertip is effective for grasping delicate objects, that is, it can decrease the impulsive force upon contact, and absorb uncertainties in object shapes and contact force. However, it can only apply...

... In this section, the force sensor of the gripper is calibrated and the gripper performance is tested by experimental studies. The fabricated microgripper is glued and wire-bonded onto a printed circuit board. Before using the microgripper to do the grasp test, the force sensor of gripper needs...

... components joined together with series (equal force) or parallel (equal displacement) connections, the resulting multiport immittance (stiffness) matrix for the entire transmission can be used to deduce how the object will behave in the grasp. To illustrate this, a three-fingered gripper is presented...

...Bruno Belzile; Lionel Birglen The sense of touch has always been challenging to replicate in robotics, but it can provide critical information when grasping objects. Nowadays, tactile sensing in artificial hands is usually limited to using external sensors which are typically costly, sensitive...

... of freedom (DOF), generally equal to the number of phalanges. Therefore, once the finger is mechanically designed and built, little can be done using control algorithms to change the behavior of this finger, both during the closing motion and the grasp. We propose to use more than one actuator to drive...

... manuscript received November 29, 2016; published online March 23, 2017. Assoc. Editor: Jun Ueda. 04 07 2016 29 11 2016 Dynamics Grasping Robot design Theoretical kinematics Fixturing This paper studies the collision problem of a robot manipulator and presents a method...

...Raymond R. Ma; Nicolas Rojas; Aaron M. Dollar Minimalist, underactuated hand designs can be modified to produce useful, dexterous, in-hand capabilities without sacrificing their passive adaptability in power grasping. Incorporating insight from studies in parallel mechanisms, we implement...

... a curvature model of the grasped object (see Table 1). 3 Soft finger is the historical name used for the contact model that idealizes a point contact that deforms to have a contact area large enough to resist moments about the contact normal. Manuscript received October 23, 2015; final manuscript...

... by two actuators. A one-input dual-output planetary gear (PG) system, in which neither the ring gear nor the planetary carrier is fixed, is employed to distribute the driving torque between the MJ and DJ. As is well known, an underactuated arm may exhibit unstable grasping performance such that the arm...