Jamming-Free Immobilizing Grasps Using Dual-Friction Robotic Fingertips

Golan, Yoav; Shapiro, Amir; Rimon, Elon

doi:10.1109/lra.2020.2972883

Cited by 10 publications

(8 citation statements)

References 15 publications

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“…This inability to master friction is a major obstacle to the optimization of devices whose function relies on dry contact interfaces. For soft interfaces, these devices include sport accessories [e.g., racket coatings (2), shoe soles (3,4)], robotic grasping devices (5)(6)(7), haptic feedback tools for virtual reality (8), and conveyor belts (9).…”

Section: Main Textmentioning

confidence: 99%

Designing metainterfaces with specified friction laws

Aymard,

Delplanque,

Dalmas

et al. 2024

Science

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Many devices, including touchscreens and robotic hands, involve frictional contacts. Optimizing these devices requires fine control of the interface’s friction law. We lack systematic methods to create dry contact interfaces whose frictional behavior satisfies preset specifications. We propose a generic surface design strategy to prepare dry rough interfaces that have predefined relationships between normal and friction forces. Such metainterfaces circumvent the usual multiscale challenge of tribology by considering simplified surface topographies as assemblies of spherical asperities. Optimizing the individual asperities’ heights enables specific friction laws to be targeted. Through various centimeter-scaled elastomer-glass metainterfaces, we illustrate three types of achievable friction laws, including linear laws with a specified friction coefficient and unusual nonlinear laws. This design strategy represents a scale- and material-independent, chemical-free pathway toward energy-saving and adaptable smart interfaces.

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Section: Main Textmentioning

confidence: 99%

Designing metainterfaces with specified friction laws

Aymard,

Delplanque,

Dalmas

et al. 2024

Science

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“…Several robotic mechanisms for varying the contact surface friction have been developed. The methods are either to increase or to reduce friction [8] [25]- [33]. Unfortunately, no attempt has been made to either increase or reduce friction using a single actuation system.…”

Section: A Related Workmentioning

confidence: 99%

Flexible and Slim Device Switching Air Blowing and Suction by a Single Airflow Control

Nojiri

Nishimura

Tadakuma

et al. 2023

IEEE Robot. Autom. Lett.

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This study proposes a soft robotic device with a slim and flexible body that switches between air blowing and suction with a single airflow control. Suction is achieved by jet flow entraining surrounding air, and blowing is achieved by blocking and reversing jet flow. The thin and flexible flap gate enables the switching. Air flow is blocked while the gate is closed and passes through while the gate is open. The opening and closing of the flap gate are controlled by the expansion of the inflatable chambers installed near the gate. The extent of expansion is determined by the upstream static pressure. Therefore, the gate can be controlled by the input airflow rate. The dimensions of the flap gate are introduced as a design parameter, and we show that the parameter contributes to the blowing and suction capacities. We also experimentally demonstrate that the proposed device is available for a variable friction system and an end effector for picking up a thin object covered with dust. Index Terms-Soft robot materials and design, hydraulic/pneumatic actuators.

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“…A special mechanical structure can also change the friction. Golan et al designed a mechanism for switching a friction state using a Swivel-based mechanism [30].…”

Section: A Related Workmentioning

confidence: 99%

Soft Robotic Hand With Finger-Bending/Friction-Reduction Switching Mechanism Through 1-Degree-of-Freedom Flow Control

Nishimura

Shimizu

Nojiri

et al. 2022

IEEE Robot. Autom. Lett.

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This paper proposes a novel pneumatic soft robotic hand that incorporates a mechanism that can switch the airflow path using a single airflow control. The developed hand can control the finger motion and operate the surface friction variable mechanism. In the friction variable mechanism, a lubricant is injected onto the high-friction finger surface to reduce surface friction. To inject the lubrication using a positive-pressure airflow, the Venturi effect is applied. The design and evaluation of the airflow-path switching and friction variable mechanisms are described. Moreover, the entire design of a soft robotic hand equipped with these mechanisms is presented. The performance was validated through grasping, placing, and manipulation tests.

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Jamming-Free Immobilizing Grasps Using Dual-Friction Robotic Fingertips

Cited by 10 publications

References 15 publications

Designing metainterfaces with specified friction laws

Designing metainterfaces with specified friction laws

Flexible and Slim Device Switching Air Blowing and Suction by a Single Airflow Control

Soft Robotic Hand With Finger-Bending/Friction-Reduction Switching Mechanism Through 1-Degree-of-Freedom Flow Control

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