Novel Dexterous Robotic Finger Concept with Controlled Stiffness

M. Wassink, Raffaella Carloni, Dannis Michel Brouwer, Stefano Stramigioli

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Abstract

This paper introduces a novel robotic finger concept for variable impedance grasping in unstructured tasks. The novel robotic finger combines three key features: minimal actuation, variable mechanical compliance and full manipulability. This combination of features allows for a minimal component design, while reducing control complexity and still providing required dexterity and grasping capabilities. The conceptual properties (such as variable compliance) are studied in a port-Hamiltonian framework.
Original languageUndefined
Title of host publicationProceedings of the 28th Benelux Meeting on Systems and Control
Place of PublicationDelft
PublisherDISC
Pages115
Number of pages1
ISBN (Print)not assigned
Publication statusPublished - 16 Mar 2009
Event28th Benelux Meeting on Systems and Control 2009 - Spa, Belgium
Duration: 16 Mar 200918 Mar 2009
Conference number: 28

Publication series

Name
PublisherDISC

Conference

Conference28th Benelux Meeting on Systems and Control 2009
CountryBelgium
CitySpa
Period16/03/0918/03/09

Keywords

  • METIS-268940
  • IR-71239
  • Dexterous grasping
  • robotic grasping
  • EWI-17858
  • variable compliance
  • variable stiffness
  • impedance control
  • robotic manipulation

Cite this

Wassink, M., Carloni, R., Brouwer, D. M., & Stramigioli, S. (2009). Novel Dexterous Robotic Finger Concept with Controlled Stiffness. In Proceedings of the 28th Benelux Meeting on Systems and Control (pp. 115). Delft: DISC.