A Multimodal, Enveloping Soft Gripper: Shape Conformation, Bioinspired Adhesion, and Expansion-Driven Suction

Hao, Yufei; Biswas, Shantonu; Hawkes, Elliot W.; Wang, Tianmiao; Zhu, Mengjia; Wen, Li; Visell, Yon

doi:10.1109/tro.2020.3021427

Cited by 93 publications

(67 citation statements)

References 43 publications

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“…When the top pressurized chamber is vented, the piston moves upward and the silicone cap contracts. As the gripper further intrudes upon the object, the silicone cap encloses the object at the contact surface, FIGURE 1 | Representative non-anthropomorphic grippers: (A) jamming gripper (Brown et al, 2010), (B) adaptive shape gripper, (C) origami "magic ball" gripper (Li et al, 2019), (D) gecko adhesion-based gripper (Song and Sitti, 2014), (E) electroadhesion based gripper (Shintake et al, 2018), (F) multimodal enveloping gripper (Hao et al, 2020a).…”

Section: Enveloping and Wrappingmentioning

confidence: 99%

“… Representative non-anthropomorphic grippers: (A) jamming gripper ( Brown et al, 2010 ), (B) adaptive shape gripper, (C) origami “magic ball” gripper ( Li et al, 2019 ), (D) gecko adhesion-based gripper ( Song and Sitti, 2014 ), (E) electroadhesion based gripper ( Shintake et al, 2018 ), (F) multimodal enveloping gripper ( Hao et al, 2020a ). …”

Section: Emerging Non-anthropomorphic Grasping Paradigmsmentioning

confidence: 99%

“…Recently, we designed a non-fingered soft gripper that leverages several different gripping mechanisms: enveloping, adhesion, suction, and inflation. We demonstrated the ability of the same gripper to grasp a variety of objects in different ways ( Hao et al, 2020a ). The gripper body consists of an accordion-shaped elastic cylindrical shell with an aperture at one end.…”

Section: Emerging Non-anthropomorphic Grasping Paradigmsmentioning

confidence: 99%

“…In chameleon predation, the capture of prey is facilitated by tongue specializations that allow the tip to adhere to and envelop prey. Several soft robotic grippers have been designed to use similar principles of enveloping, such as the FESTO adaptive shape gripper, which is able to grasp objects of various shapes by enveloping, among several other examples ( Brown et al, 2010 ; Shintake et al, 2016 ; Li et al, 2019 ; Hao et al, 2020a ). Biological systems such as these, and the robotic devices they have inspired, illustrate how non-anthropomorphic grippers can circumvent complexities that arise in fingered grasping, such as those of identifying feasible contact points and of controlling the motions and forces produced by multiple fingers.…”

Section: Introductionmentioning

confidence: 99%

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Beyond Soft Hands: Efficient Grasping With Non-Anthropomorphic Soft Grippers

Hao

Visell

2021

Front. Robot. AI

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Grasping and manipulation are challenging tasks that are nonetheless critical for many robotic systems and applications. A century ago, robots were conceived as humanoid automata. While conceptual at the time, this viewpoint remains influential today. Many robotic grippers have been inspired by the dexterity and functionality of the prehensile human hand. However, multi-fingered grippers that emulate the hand often integrate many kinematic degrees-of-freedom, and thus complex mechanisms, which must be controlled in order to grasp and manipulate objects. Soft fingers can facilitate grasping through intrinsic compliance, enabling them to conform to diverse objects. However, as with conventional fingered grippers, grasping via soft fingers involves challenges in perception, computation, and control, because fingers must be placed so as to achieve force closure, which depends on the shape and pose of the object. Emerging soft robotics research on non-anthropomorphic grippers has yielded new techniques that can circumvent fundamental challenges associated with grasping via fingered grippers. Common to many non-anthropomorphic soft grippers are mechanisms for morphological deformation or adhesion that simplify the grasping of diverse objects in different poses, without detailed knowledge of the object geometry. These advantages may allow robots to be used in challenging applications, such as logistics or rapid manufacturing, with lower cost and complexity. In this perspective, we examine challenges associated with grasping via anthropomorphic grippers. We describe emerging soft, non-anthropomorphic grasping methods, and how they may reduce grasping complexities. We conclude by proposing several research directions that could expand the capabilities of robotic systems utilizing non-anthropomorphic grippers.

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Section: Enveloping and Wrappingmentioning

confidence: 99%

Section: Emerging Non-anthropomorphic Grasping Paradigmsmentioning

confidence: 99%

Section: Emerging Non-anthropomorphic Grasping Paradigmsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Beyond Soft Hands: Efficient Grasping With Non-Anthropomorphic Soft Grippers

Hao

Visell

2021

Front. Robot. AI

Self Cite

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“…Anthropomorphic soft gripper and hand were proposed to achieve adaptable, effective, and dexterous grasping (Manti et al, 2015;Deimel and Brock, 2016). Soft grippers integrated novel adhesive interfaces with soft structures were investigated to enhance grasping capability (Song et al, 2017;Hao et al, 2020). Gerez et al developed a soft and a hybrid grippers based on the soft, retractable, pneumatically actuated, telescopic actuators for handlinig fragile, delicate, heavy, and irregular objects (Gerez et al, 2020).…”

Section: Introductionmentioning

confidence: 99%

A Scooping-Binding Robotic Gripper for Handling Various Food Products

et al. 2021

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Food products are usually difficult to handle for robots because of their large variations in shape, size, softness, and surface conditions. It is ideal to use one robotic gripper to handle as many food products as possible. In this study, a scooping-binding robotic gripper is proposed to achieve this goal. The gripper was constructed using a pneumatic parallel actuator and two identical scooping-binding mechanisms. The mechanism consists of a thin scooping plate and multiple rubber strings for binding. When grasping an object, the mechanisms actively makes contact with the environment for scooping, and the object weight is mainly supported by the scooping plate. The binding strings are responsible for stabilizing the grasping by wrapping around the object. Therefore, the gripper can perform high-speed pick-and-place operations. Contact analysis was conducted using a simple beam model and a finite element model that were experimentally validated. Tension property of the binding string was characterized and an analytical model was established to predict binding force based on object geometry and binding displacement. Finally, handling tests on 20 food items, including products with thin profiles and slippery surfaces, were performed. The scooping-binding gripper succeeded in handling all items with a takt time of approximately 4 s. The gripper showed potential for actual applications in the food industry.

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Topologically Optimized Fingerless Versatile Gripper Actuated by a Shape Memory Alloy Coiled Garter Spring

et al. 2023

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The rapid advancements in 3D printing technologies offer immense design flexibility and the ability to create complex structures with high resolution. Using these cutting‐edge technologies and materials (i.e., a polylactic acid and fused deposition modeling), a novel design principle is introduced for a fingerless gripper, achieved through topological optimization. To realize the grasping capabilities, a coiled garter spring made of shape memory alloy (SMA) is incorporated at the end of the flexure beams. Based on the experiments, it is found that the gripper is very quick to respond, taking only 5 s to heat up and 15 s to cool down. This promising performance is achieved by carefully balancing the net force differential between the restoring force of the flexure beam and the force of the SMA coiled garter spring. In addition to its responsiveness, the gripper demonstrates a high force‐to‐weight ratio of 5.3, allowing it to lift heavy payloads of up to 4.91 N (0.5 kgf) despite its lightweight design (total weight of 94.2 g). Overall, this work showcases the potential of 3D printed fingerless grippers in terms of high holding strength, lightweight, low cost, and simple fabrication.

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A Multimodal, Enveloping Soft Gripper: Shape Conformation, Bioinspired Adhesion, and Expansion-Driven Suction

Cited by 93 publications

References 43 publications

Beyond Soft Hands: Efficient Grasping With Non-Anthropomorphic Soft Grippers

Beyond Soft Hands: Efficient Grasping With Non-Anthropomorphic Soft Grippers

A Scooping-Binding Robotic Gripper for Handling Various Food Products

Topologically Optimized Fingerless Versatile Gripper Actuated by a Shape Memory Alloy Coiled Garter Spring

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