Mitigate Inertia for Wrist and Forearm Towards Safe Interaction in 5-DOF Cable-Driven Robot Arm

Nguyen, Van Pho; Bohra Dhyan, Sunil; Hoang, Chi Cuong; Siew Han, Boon; Tan, Jing Yuan; Tuck Chow, Wai

doi:10.1109/aim46323.2023.10196261

Cited by 4 publications

(2 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Rigid grippers with anthropomorphic designs are employed in industrial manufacturing and assembly lines for tasks such as picking, placing, and manipulating components in precise positions [ 269 ]. These grippers are also used in construction and maintenance tasks that require heavy lifting, such as moving construction materials or repairing large structures.…”

Section: Discussionmentioning

confidence: 99%

Bioinspiration and Biomimetic Art in Robotic Grippers

Nguyen,

Dhyan,

Mai

et al. 2023

Micromachines

Self Cite

View full text Add to dashboard Cite

The autonomous manipulation of objects by robotic grippers has made significant strides in enhancing both human daily life and various industries. Within a brief span, a multitude of research endeavours and gripper designs have emerged, drawing inspiration primarily from biological mechanisms. It is within this context that our study takes centre stage, with the aim of conducting a meticulous review of bioinspired grippers. This exploration involved a nuanced classification framework encompassing a range of parameters, including operating principles, material compositions, actuation methods, design intricacies, fabrication techniques, and the multifaceted applications into which these grippers seamlessly integrate. Our comprehensive investigation unveiled gripper designs that brim with a depth of intricacy, rendering them indispensable across a spectrum of real-world scenarios. These bioinspired grippers with a predominant emphasis on animal-inspired solutions have become pivotal tools that not only mirror nature’s genius but also significantly enrich various domains through their versatility.

show abstract

Section: Discussionmentioning

confidence: 99%

Bioinspiration and Biomimetic Art in Robotic Grippers

Nguyen,

Dhyan,

Mai

et al. 2023

Micromachines

Self Cite

View full text Add to dashboard Cite

show abstract

“…The hybrid design of the granular-tendon gripper demonstrates its capability to universally adapt to multiple objects of diverse sizes and weights, from light to heavy, which can be mounted to the robot arm [ 52 ], therapy robot hands [ 53 ], and soft haptic fingers [ 54 ]. The gripper exhibited high success rates in picking up small- and big-size objects.…”

Section: Discussionmentioning

confidence: 99%

Universally Grasping Objects with Granular—Tendon Finger: Principle and Design

Nguyen,

Dhyan,

Han

et al. 2023

Micromachines

Self Cite

View full text Add to dashboard Cite

Nowadays, achieving the stable grasping of objects in robotics requires an increased emphasis on soft interactions. This research introduces a novel gripper design to achieve a more universal object grasping. The key feature of this gripper design was a hybrid mechanism that leveraged the soft structure provided by multiple granular pouches attached to the finger skeletons. To evaluate the performance of the gripper, a series of experiments were conducted using fifteen distinct types of objects, including cylinders, U-shaped brackets, M3 bolts, tape, pyramids, big pyramids, oranges, cakes, coffee sachets, spheres, drink sachets, shelves, pulley gears, aluminium profiles, and flat brackets. Our experimental results demonstrated that our gripper design achieved high success rates in gripping objects weighing less than 210 g. One notable advantage of the granular-tendon gripper was its ability to generate soft interactions during the grasping process while having a skeleton support to provide strength. This characteristic enabled the gripper to adapt effectively to various objects, regardless of their shape and material properties. Consequently, this work presented a promising solution for manipulating a wide range of objects with both stability and soft interaction capabilities, regardless of their individual characteristics.

show abstract