On Soft Fingertips for In-Hand Manipulation: Modeling and Implications for Robot Hand Design

Lu, Qiujie; Rojas, Nicolás

doi:10.1109/lra.2019.2906544

Cited by 25 publications

(18 citation statements)

References 15 publications

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“…This method takes advantage of gravity to reorient the object, which makes the direction and range of rotation limited. For increasing rotation capabilities, soft fingertips can be used, when compared with rigid fingertips, they generate a larger manipulation workspace for a given gripper (Lu and Rojas, 2019). Those addon fingertip designs achieve good success on increasing the dexterity of the grippers.…”

Section: Add-on Designs For Increasing Dexterity Of Simple Grippersmentioning

confidence: 99%

Systematic object-invariant in-hand manipulation via reconfigurable underactuation: Introducing the RUTH gripper

Baron

Clark

et al. 2021

The International Journal of Robotics Research

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We introduce a reconfigurable underactuated robot hand able to perform systematic prehensile in-hand manipulations regardless of object size or shape. The hand utilizes a two-degree-of-freedom five-bar linkage as the palm of the gripper, with three three-phalanx underactuated fingers, jointly controlled by a single actuator, connected to the mobile revolute joints of the palm. Three actuators are used in the robot hand system in total, one for controlling the force exerted on objects by the fingers through an underactuated tendon system, and two for changing the configuration of the palm and, thus, the positioning of the fingers. This novel layout allows decoupling grasping and manipulation, facilitating the planning and execution of in-hand manipulation operations. The reconfigurable palm provides the hand with a large grasping versatility, and allows easy computation of a map between task space and joint space for manipulation based on distance-based linkage kinematics. The motion of objects of different sizes and shapes from one pose to another is then straightforward and systematic, provided the objects are kept grasped. This is guaranteed independently and passively by the underactuated fingers using a custom tendon routing method, which allows no tendon length variation when the relative finger base positions change with palm reconfigurations. We analyze the theoretical grasping workspace and grasping and manipulation capability of the hand, present algorithms for computing the manipulation map and in-hand manipulation planning, and evaluate all these experimentally. Numerical and empirical results of several manipulation trajectories with objects of different size and shape clearly demonstrate the viability of the proposed concept.

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Section: Add-on Designs For Increasing Dexterity Of Simple Grippersmentioning

confidence: 99%

Systematic object-invariant in-hand manipulation via reconfigurable underactuation: Introducing the RUTH gripper

Baron

Clark

et al. 2021

The International Journal of Robotics Research

Self Cite

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“…A recently proposed four-finger soft body robotic hand displayed the ability to unscrew the cap of a jar [ 20 ]. Compared with a rigid body robotic hand, a soft body robotic hand easily deforms during grasping or manipulation, which helps to secure the target object [ 21 , 22 , 23 ]. However, most of them have a complete soft body structure design, causing them to move like invertebrates, or resulting in a weak grip force [ 11 , 16 , 24 , 25 ].…”

Section: Introductionmentioning

confidence: 99%

Design of a Single-Material Complex Structure Anthropomorphic Robotic Hand

et al. 2021

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In the field of robotic hand design, soft body and anthropomorphic design are two trends with a promising future. Designing soft body anthropomorphic robotic hands with human-like grasping ability, but with a simple and reliable structure, is a challenge that still has not been not fully solved. In this paper, we present an anatomically correct robotic hand 3D model that aims to realize the human hand’s functionality using a single type of 3D-printable material. Our robotic hand 3D model is combined with bones, ligaments, tendons, pulley systems, and tissue. We also describe the fabrication method to rapidly produce our robotic hand in 3D printing, wherein all parts are made by elastic 50 A (shore durometer) resin. In the experimental section, we show that our robotic hand has a similar motion range to a human hand with substantial grasping strength and compare it with the latest other designs of anthropomorphic robotic hands. Our new design greatly reduces the fabrication cost and assembly time. Compared with other robotic hand designs, we think our robotic hand may induce a new approach to the design and production of robotic hands as well as other related mechanical structures.

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“…Conversely, soft grippers such as the starfish gripper with the embedded pneumatic networks (PneuNets) [11] and phase changing grippers like the universal gripper with granular jamming material [12] show high resilience and compliance. The high adaptability of soft robotic grippers indeed increased the performance in grasping delicate food products with lower contact pressure, yet the precise modeling and robustness are very challenging compared to rigid grippers [13]. In addition, most grasping tasks with soft grippers are enabled by power grasp, which disabled the capability for in-hand and precision manipulation [14].…”

Section: Introductionmentioning

confidence: 99%

Soft Fingertips With Tactile Sensing and Active Deformation for Robust Grasping of Delicate Objects

Abad

et al. 2020

IEEE Robot. Autom. Lett.

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Soft fingertips have shown significant adaptability for grasping a wide range of object shapes thanks to elasticity. This ability can be enhanced to grasp soft, delicate objects by adding touch sensing. However, in these cases, the complete restraint and robustness of the grasps have proved to be challenging, as the exertion of additional forces on the fragile object can result in damage. This paper presents a novel soft fingertip design for delicate objects based on the concept of embedded air cavities, which allow the dual ability of tactile sensing and active shapechanging. The pressurized air cavities act as soft tactile sensors to control gripper position from internal pressure variation; and active fingertip deformation is achieved by applying positive pressure to these cavities, which then enable a delicate object to be kept securely in position, despite externally applied forces, by form closure. We demonstrate this improved grasping capability by comparing the displacement of grasped delicate objects exposed to high-speed motions. Results show that passive soft fingertips fail to restrain fragile objects at accelerations as low as 0.1 m/s 2 , in contrast, with the proposed fingertips delicate objects are completely secure even at accelerations of more than 5 m/s 2 .

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On Soft Fingertips for In-Hand Manipulation: Modeling and Implications for Robot Hand Design

Cited by 25 publications

References 15 publications

Systematic object-invariant in-hand manipulation via reconfigurable underactuation: Introducing the RUTH gripper

Systematic object-invariant in-hand manipulation via reconfigurable underactuation: Introducing the RUTH gripper

Design of a Single-Material Complex Structure Anthropomorphic Robotic Hand

Soft Fingertips With Tactile Sensing and Active Deformation for Robust Grasping of Delicate Objects

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