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

Matteo Fumagalli; Eamon Barrett; Stefano Stramigioli; Raffaella Carloni

doi:10.1109/AIM.2016.7576794

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 proceeding › Conference contribution › Academic › peer-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 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	https://doi.org/10.1109/AIM.2016.7576794
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

Access to Document

10.1109/AIM.2016.7576794

http://eprints.eemcs.utwente.nl/secure2/27229/01/07576794.pdf

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

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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 proceeding › Conference contribution › Academic › peer-review

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