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
Fumagalli, Matteo ; Barrett, Eamon ; Stramigioli, Stefano ; Carloni, Raffaella. / Analysis of an underactuated robotic finger with variable pinch and closure grasp stiffness. Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016. USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2016. pp. 365-370
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title = "Analysis of an underactuated robotic finger with variable pinch and closure grasp stiffness",
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.",
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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. IEEE ROBOTICS AND AUTOMATION SOCIETY, USA, pp. 365-370, 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016, Alberta, 12/07/16. https://doi.org/10.1109/AIM.2016.7576794

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 proceedingConference contributionAcademicpeer-review

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Fumagalli M, Barrett E, Stramigioli S, Carloni R. 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. USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. 2016. p. 365-370 https://doi.org/10.1109/AIM.2016.7576794