Automatic evaluation of two-fingered grips

Abstract:In this paper, we present a recent survey on robotic grippers. In many cases, modern grippers outperform their older counterparts which are now stronger, more repeatable, and faster. Technological advancements have also attributed to the development of gripping various objects. This includes soft fabrics, microelectromechanical systems, and synthetic sheets. In addition, newer materials are being used to improve functionality of grippers, which include piezoelectric, shape memory alloys, smart fluids, carbon fiber, and many more. This paper covers the very first robotic gripper to the newest developments in grasping methods. Unlike other survey papers, we focus on the applications of robotic grippers in industrial, medical, for fragile objects and soft fabrics grippers. We report on new advancements on grasping mechanisms and discuss their behavior for different purposes. Finally, we present the future trends of grippers in terms of flexibility and performance and their vital applications in emerging areas of robotic surgery, industrial assembly, space exploration, and micromanipulation. These advancements will provide a future outlook on the new trends in robotic grippers.

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“…In [136], a pneumatic actuator was developed. It consists of an outer skin which is pumped full of air.…”

Section: Enveloping and Under Actuated Grippersmentioning

confidence: 99%

State of the Art Robotic Grippers and Applications

et al. 2016

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“…matrix G, and iii a task oriented index based on the volume of the ellipsoid generated by the contact forces. Barber et al 7 defined the grasping quality measure as a function of the geometry of the object and the coefficient of friction required for sustaining static equilibrium. In this formulation, the coefficient of friction contains grasping quality information where lower values correspond to better grasps.…”

Section: Previous Workmentioning

confidence: 99%

Optimal grasping formulations that result in high quality and robust configurations

1998

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This study develops a mathematical formulation that addresses robust and high quality grasps. Grasping quality is obtained by minimizing the entropy of the finger normal forces, and robustness is attained by minimizing the effects perturbations in the finger contact locations have on grasping quality variations. Robustness and quality are two distinct yet interrelated mechanisms that affect the selection of finger contact locations when forming a grasping configuration. The mathematical formulation has two weighing factors that convey the relative importance of the robustness and the quality mechanisms. Computer simulations of two and three finger grasps demonstrate that the new formulation can select contact locations that result in optimal grasping configurations. The optimal conditions vary through the model weighing factors. Optimal grasps of four different objects are obtained when the user Ž . Ž . Ž . seeks i robust configurations, ii high quality grasps, and iii grasps for which robustness and quality are equal in importance. ᮊ

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“…which automatically satisfies the non-negativity constraint from Eq. (5). Because E ( p ) is a concave function, every local maximum is a global one, a,Fd hence substituting Eq.…”

Section: An Information-theoretic Functionalmentioning

confidence: 99%

“…Because E ( p ) is a concave function, every local maximum is a global one, a,Fd hence substituting Eq. (5) into the constraint p, = 1 reduces the solution to uniform probability values of p, = l / m . Furthermore, log m is the maximum possible value of E ( p ) , and therefore for any p E P,, E(p) lies in the range 0 5 E(p) 5 log m.…”

Section: An Information-theoretic Functionalmentioning

confidence: 99%

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Toeard a formulation of the human grasping quality sense

1995

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This article examines the grasping quality problem and suggests a formulation that can capture the major mechanisms that generate the human grasping quality sense. Here, the quality of a grasp is examined from the gripper, object, and grasping‐configuration perspectives. These perspectives are incorporated into the formulation by selecting an appropriate objective function that is minimized subject to constraints that represent the geometry, friction, and force‐balance conditions of a grasp. The quality of a grasp is depicted as a polar plot that demonstrates the dependency of grasping quality on the external‐loading direction. The suggested grasping quality measures possess characteristics that are in agreement with basic human intuition. In particular this article proves that the three proposed quality measures are improved when the number of contact points is increased. In summary, the suggested grasping quality formulation captures some of the physical mechanisms that characterize a human grasp, and therefore it may lead to a powerful mathematical model of the human grasping quality sense. © 1995 John Wiley & Sons, Inc.

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Automatic evaluation of two-fingered grips

Cited by 10 publications

References 16 publications

State of the Art Robotic Grippers and Applications

State of the Art Robotic Grippers and Applications

Optimal grasping formulations that result in high quality and robust configurations

Toeard a formulation of the human grasping quality sense

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