Analysis of an underactuated robotic finger with variable pinch and closure grasp stiffness

Matteo Fumagalli, Eamon Barrett, Stefano Stramigioli, Raffaella Carloni

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    3 Citations (Scopus)

    Abstract

    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.
    Original languageUndefined
    Title of host publicationProceedings of the IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages365-370
    Number of pages6
    ISBN (Print)978-1-5090-2065-2
    DOIs
    Publication statusPublished - Jul 2016
    Event2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 - The Banff Centre, Alberta
    Duration: 12 Jul 201615 Jul 2016

    Publication series

    Name
    PublisherIEEE Robotics and Automation Society

    Conference

    Conference2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
    Abbreviated titleAIM
    CityAlberta
    Period12/07/1615/07/16

    Keywords

    • EWI-27229
    • IR-101499
    • METIS-318523

    Cite this

    Fumagalli, M., Barrett, E., Stramigioli, S., & Carloni, R. (2016). Analysis of an underactuated robotic finger with variable pinch and closure grasp stiffness. In Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 (pp. 365-370). USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. https://doi.org/10.1109/AIM.2016.7576794