Abstract
| Original language | Undefined |
|---|---|
| Title of host publication | Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 |
| Place of Publication | USA |
| Publisher | IEEE ROBOTICS AND AUTOMATION SOCIETY |
| Pages | 365-370 |
| Number of pages | 6 |
| ISBN (Print) | 978-1-5090-2065-2 |
| DOIs | |
| Publication status | Published - Jul 2016 |
| Event | 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 - The Banff Centre, Alberta Duration: 12 Jul 2016 → 15 Jul 2016 |
Publication series
| Name | |
|---|---|
| Publisher | IEEE Robotics and Automation Society |
Conference
| Conference | 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 |
|---|---|
| Abbreviated title | AIM |
| City | Alberta |
| Period | 12/07/16 → 15/07/16 |
Keywords
- EWI-27229
- IR-101499
- METIS-318523
Cite this
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Analysis of an underactuated robotic finger with variable pinch and closure grasp stiffness. / Fumagalli, Matteo; Barrett, Eamon; Stramigioli, Stefano; Carloni, Raffaella.
Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016. USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2016. p. 365-370.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review
TY - GEN
T1 - Analysis of an underactuated robotic finger with variable pinch and closure grasp stiffness
AU - Fumagalli, Matteo
AU - Barrett, Eamon
AU - Stramigioli, Stefano
AU - Carloni, Raffaella
N1 - eemcs-eprint-27229
PY - 2016/7
Y1 - 2016/7
N2 - This paper presents an innovative design concept for an underactuated robotic finger which can perform adaptable closure and pinch grasping. The mechanically simple design combines an underactuated spring-loaded enclosing mechanism with a Variable Stiffness Actuator, which can be used to regulate the mechanical stiffness and interaction forces of the finger during grasping. This highly desirable property can enable the finger to be used as an adaptable and versatile gripper that can interact with its environment with minimal control effort. The design of the proposed underactuated robotic finger is presented and its main features are discussed. The interplay between the finger mechanism and its variably compliant actuation is analyzed for different grasps and load conditions, before the finger’s properties are experimentally validated and the pinch and enveloping grasp capabilities demonstrated.
AB - This paper presents an innovative design concept for an underactuated robotic finger which can perform adaptable closure and pinch grasping. The mechanically simple design combines an underactuated spring-loaded enclosing mechanism with a Variable Stiffness Actuator, which can be used to regulate the mechanical stiffness and interaction forces of the finger during grasping. This highly desirable property can enable the finger to be used as an adaptable and versatile gripper that can interact with its environment with minimal control effort. The design of the proposed underactuated robotic finger is presented and its main features are discussed. The interplay between the finger mechanism and its variably compliant actuation is analyzed for different grasps and load conditions, before the finger’s properties are experimentally validated and the pinch and enveloping grasp capabilities demonstrated.
KW - EWI-27229
KW - IR-101499
KW - METIS-318523
U2 - 10.1109/AIM.2016.7576794
DO - 10.1109/AIM.2016.7576794
M3 - Conference contribution
SN - 978-1-5090-2065-2
SP - 365
EP - 370
BT - Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
PB - IEEE ROBOTICS AND AUTOMATION SOCIETY
CY - USA
ER -