Compliance Analysis of an Under-Actuated Robotic Finger

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

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Abstract

Under-actuated robotic hands have multiple applications fields, like prosthetics and service robots. They are interesting for their versatility, simple control and minimal component usage. However, when external forces are applied on the finger-tip, the mechanical structure of the finger might not be able to resist them. In particular, only a subset of disturbance forces will meet finite compliance, while forces in other directions impose null-space motions (infinite compliance). Motivated by the observation that infinite compliance (i.e. zero stiffness) can occur due to under-actuation, this paper presents a geometric analysis of the finger-tip compliance of an under-actuated robotic finger. The analysis also provides an evaluation of the finger design, which determines the set of disturbances that is resisted by finite compliance. The analysis relies on the definition of proper metrics for the joint-configuration space. Trivially, without damping, the mass matrix is used as a metric. However, in the case of damping (power losses), the physical meaningful metric to be used is found to be the damping matrix. Simulation experiments confirm the theoretical results.
Original languageUndefined
Title of host publicationProceedings of the 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
Place of PublicationUSA
PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
Pages325-330
Number of pages6
ISBN (Print)978-1-4244-7708-1
DOIs
Publication statusPublished - Sep 2010
Event3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 - Tokyo, Japan
Duration: 26 Sep 201029 Sep 2010
Conference number: 3

Publication series

Name
PublisherIEEE Robotics and Automation Society

Conference

Conference3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
Abbreviated titleBioRob
CountryJapan
CityTokyo
Period26/09/1029/09/10

Keywords

  • IR-75010
  • METIS-271159
  • Biorobotics
  • EWI-18936
  • Locomotion and manipulation in robots and biological systems
  • robotic hands
  • Protheses

Cite this

Wassink, M., Carloni, R., & Stramigioli, S. (2010). Compliance Analysis of an Under-Actuated Robotic Finger. In Proceedings of the 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 (pp. 325-330). USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. https://doi.org/10.1109/BIOROB.2010.5628054
Wassink, M. ; Carloni, Raffaella ; Stramigioli, Stefano. / Compliance Analysis of an Under-Actuated Robotic Finger. Proceedings of the 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010. USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2010. pp. 325-330
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title = "Compliance Analysis of an Under-Actuated Robotic Finger",
abstract = "Under-actuated robotic hands have multiple applications fields, like prosthetics and service robots. They are interesting for their versatility, simple control and minimal component usage. However, when external forces are applied on the finger-tip, the mechanical structure of the finger might not be able to resist them. In particular, only a subset of disturbance forces will meet finite compliance, while forces in other directions impose null-space motions (infinite compliance). Motivated by the observation that infinite compliance (i.e. zero stiffness) can occur due to under-actuation, this paper presents a geometric analysis of the finger-tip compliance of an under-actuated robotic finger. The analysis also provides an evaluation of the finger design, which determines the set of disturbances that is resisted by finite compliance. The analysis relies on the definition of proper metrics for the joint-configuration space. Trivially, without damping, the mass matrix is used as a metric. However, in the case of damping (power losses), the physical meaningful metric to be used is found to be the damping matrix. Simulation experiments confirm the theoretical results.",
keywords = "IR-75010, METIS-271159, Biorobotics, EWI-18936, Locomotion and manipulation in robots and biological systems, robotic hands, Protheses",
author = "M. Wassink and Raffaella Carloni and Stefano Stramigioli",
year = "2010",
month = "9",
doi = "10.1109/BIOROB.2010.5628054",
language = "Undefined",
isbn = "978-1-4244-7708-1",
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Wassink, M, Carloni, R & Stramigioli, S 2010, Compliance Analysis of an Under-Actuated Robotic Finger. in Proceedings of the 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010. IEEE ROBOTICS AND AUTOMATION SOCIETY, USA, pp. 325-330, 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010, Tokyo, Japan, 26/09/10. https://doi.org/10.1109/BIOROB.2010.5628054

Compliance Analysis of an Under-Actuated Robotic Finger. / Wassink, M.; Carloni, Raffaella; Stramigioli, Stefano.

Proceedings of the 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010. USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2010. p. 325-330.

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

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T1 - Compliance Analysis of an Under-Actuated Robotic Finger

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AU - Carloni, Raffaella

AU - Stramigioli, Stefano

PY - 2010/9

Y1 - 2010/9

N2 - Under-actuated robotic hands have multiple applications fields, like prosthetics and service robots. They are interesting for their versatility, simple control and minimal component usage. However, when external forces are applied on the finger-tip, the mechanical structure of the finger might not be able to resist them. In particular, only a subset of disturbance forces will meet finite compliance, while forces in other directions impose null-space motions (infinite compliance). Motivated by the observation that infinite compliance (i.e. zero stiffness) can occur due to under-actuation, this paper presents a geometric analysis of the finger-tip compliance of an under-actuated robotic finger. The analysis also provides an evaluation of the finger design, which determines the set of disturbances that is resisted by finite compliance. The analysis relies on the definition of proper metrics for the joint-configuration space. Trivially, without damping, the mass matrix is used as a metric. However, in the case of damping (power losses), the physical meaningful metric to be used is found to be the damping matrix. Simulation experiments confirm the theoretical results.

AB - Under-actuated robotic hands have multiple applications fields, like prosthetics and service robots. They are interesting for their versatility, simple control and minimal component usage. However, when external forces are applied on the finger-tip, the mechanical structure of the finger might not be able to resist them. In particular, only a subset of disturbance forces will meet finite compliance, while forces in other directions impose null-space motions (infinite compliance). Motivated by the observation that infinite compliance (i.e. zero stiffness) can occur due to under-actuation, this paper presents a geometric analysis of the finger-tip compliance of an under-actuated robotic finger. The analysis also provides an evaluation of the finger design, which determines the set of disturbances that is resisted by finite compliance. The analysis relies on the definition of proper metrics for the joint-configuration space. Trivially, without damping, the mass matrix is used as a metric. However, in the case of damping (power losses), the physical meaningful metric to be used is found to be the damping matrix. Simulation experiments confirm the theoretical results.

KW - IR-75010

KW - METIS-271159

KW - Biorobotics

KW - EWI-18936

KW - Locomotion and manipulation in robots and biological systems

KW - robotic hands

KW - Protheses

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DO - 10.1109/BIOROB.2010.5628054

M3 - Conference contribution

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BT - Proceedings of the 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010

PB - IEEE ROBOTICS AND AUTOMATION SOCIETY

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Wassink M, Carloni R, Stramigioli S. Compliance Analysis of an Under-Actuated Robotic Finger. In Proceedings of the 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010. USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. 2010. p. 325-330 https://doi.org/10.1109/BIOROB.2010.5628054